fridge_m_0.7_pd sim push at 850 trajs (incl. h5)

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 05/12 16:11:29 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_017	[pipeline.py: 1174]
 05/12 16:11:29 INFO: [Worker 0] Batching and saving trajectory data for chunk_017 batch 1/4: 1 episodes	[pipeline.py: 238]
 05/12 16:11:29 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 16:11:39 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_017	[pipeline.py: 1174]
+05/12 16:11:39 INFO: [Worker 0] Batching and saving trajectory data for chunk_017 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/12 16:11:39 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 16:11:44 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_017	[pipeline.py: 1174]
+05/12 16:11:44 INFO: [Worker 0] Batching and saving trajectory data for chunk_017 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/12 16:11:44 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 16:11:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 16:11:44 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_017	[save_utils.py: 785]
+05/12 16:11:44 INFO: [Worker 0] Successfully saved trajectory data for chunk_017 in 15.05s (batch: 4.22s, save: 10.83s)	[pipeline.py: 300]
+05/12 16:11:45 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.48s:
+  episode_total: mean=182.30s, total=182.30s, count=1, min=182297.8ms, max=182297.8ms
+  sensor_polling: mean=410.6ms, total=123.19s, count=300, min=367.6ms, max=798.9ms
+  save_trajectories: mean=10.83s, total=10.83s, count=1, min=10834.7ms, max=10834.7ms
+  physics_step: mean=25.3ms, total=7.58s, count=300, min=18.9ms, max=35.2ms
+  save_batch_prep: mean=4.22s, total=4.22s, count=1, min=4217.8ms, max=4217.8ms
+  task_sampling: mean=480.7ms, total=480.7ms, count=1, min=480.7ms, max=480.7ms
+  task_specific_sample: mean=476.5ms, total=476.5ms, count=1, min=476.5ms, max=476.5ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=490.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=21.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 16:11:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 16:11:46 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 16:11:46 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 16:11:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 16:11:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 16:11:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 16:11:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 16:11:46 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 16:11:46 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 16:11:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 16:11:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.039m, effective arm-mount z=0.899m (base_body_z=0.039m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 16:11:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 16:11:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 16:11:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.038936m	[env.py: 870]
+05/12 16:11:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 16:11:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 16:11:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 16:11:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 60.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 16:11:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 64.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 16:11:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.93951011  0.95759864  0.03893559] yaw=-161.3deg	[env.py: 1019]
+05/12 16:11:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 16:11:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 156.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 16:11:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.82717569  1.14319117  0.03893559] yaw=-125.6deg	[env.py: 1019]
+05/12 16:11:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 16:11:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 16:11:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=219.0ms, total=219.0ms	[env.py: 1075]
+05/12 16:11:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.940, 0.958, 0.039)	[env.py: 1079]
+05/12 16:11:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -161.3 deg	[env.py: 1082]
+05/12 16:11:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.899m	[env.py: 1086]
+05/12 16:11:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 16:11:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 16:11:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 16:11:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 16:11:47 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 16:11:47 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/12 16:11:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.114s	[base_object_manipulation_planner_policy.py: 377]
+05/12 16:11:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 16:11:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 16:11:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.081s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 16:11:48 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.923s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 16:11:48 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.447[m] 76.216[deg]	[grasp_sample.py: 539]
+05/12 16:11:48 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 16:11:48 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 16:11:48 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 16:11:52 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 16:11:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 16:11:56 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_017	[save_utils.py: 785]
+05/12 16:11:56 INFO: [Worker 0] Successfully saved trajectory data for chunk_017 in 16.37s (batch: 4.94s, save: 11.43s)	[pipeline.py: 300]
+05/12 16:11:56 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=1.28s:
+  episode_total: mean=162.98s, total=325.97s, count=2, min=140700.4ms, max=185269.3ms
+  sensor_polling: mean=425.6ms, total=238.77s, count=561, min=369.1ms, max=846.9ms
+  physics_step: mean=25.9ms, total=14.54s, count=561, min=16.9ms, max=34.8ms
+  save_trajectories: mean=11.43s, total=11.43s, count=1, min=11433.4ms, max=11433.4ms
+  save_batch_prep: mean=4.94s, total=4.94s, count=1, min=4935.5ms, max=4935.5ms
+  task_sampling: mean=638.3ms, total=1.28s, count=2, min=556.3ms, max=720.4ms
+  task_specific_sample: mean=634.5ms, total=1.27s, count=2, min=552.2ms, max=716.8ms
+  scene_randomize: mean=2.2ms, total=4.4ms, count=2, min=1.8ms, max=2.6ms
+  mj_forward_sync: mean=452.9us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=21.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 16:11:58 WARNING: [Worker 0] No trajectory data to save for chunk_017	[pipeline.py: 234]
+05/12 16:11:58 WARNING: [Worker 0] No trajectory data to save for chunk_017	[pipeline.py: 234]
+05/12 16:11:58 INFO: [Worker 0] Worker 0 completed house 1: 12/12 successful episodes	[pipeline.py: 1323]
+05/12 16:11:58 INFO: [Worker 0] [PROFILE] House 1 complete: 12/12 successful, 12 episodes, total_time=5164.59s
+  House averages:
+  episode_total: mean=158.97s, total=2861.44s, count=18, min=3266.3ms, max=237066.8ms
+  sensor_polling: mean=430.9ms, total=1951.17s, count=4528, min=363.4ms, max=846.9ms
+  save_trajectories: mean=11.92s, total=142.99s, count=12, min=11082.7ms, max=12918.9ms
+  physics_step: mean=27.0ms, total=122.18s, count=4528, min=15.6ms, max=152.0ms
+  save_batch_prep: mean=4.48s, total=53.82s, count=12, min=3776.2ms, max=5072.3ms
+  task_sampling: mean=756.3ms, total=13.61s, count=18, min=406.8ms, max=4818.5ms
+  task_specific_sample: mean=521.4ms, total=9.39s, count=18, min=401.7ms, max=716.8ms
+  scene_load: mean=4.15s, total=4.15s, count=1, min=4147.1ms, max=4147.1ms
+  scene_env_create: mean=2.41s, total=2.41s, count=1, min=2413.5ms, max=2413.5ms
+  scene_compile: mean=1.48s, total=1.48s, count=1, min=1483.7ms, max=1483.7ms
+  compile_mujoco: mean=930.3ms, total=930.3ms, count=1, min=930.3ms, max=930.3ms
+  compile_xml_load: mean=427.3ms, total=427.3ms, count=1, min=427.3ms, max=427.3ms
+  scene_init: mean=162.3ms, total=162.3ms, count=1, min=162.3ms, max=162.3ms
+  scene_asset_install: mean=87.1ms, total=87.1ms, count=1, min=87.1ms, max=87.1ms
+  compile_aux_objects: mean=71.7ms, total=71.7ms, count=1, min=71.7ms, max=71.7ms
+  compile_aux_policy_objects: mean=71.7ms, total=71.7ms, count=1, min=71.7ms, max=71.7ms
+  asset_install_grasps: mean=60.7ms, total=60.7ms, count=1, min=60.7ms, max=60.7ms
+  scene_randomize: mean=2.6ms, total=46.0ms, count=18, min=1.4ms, max=3.7ms
+  compile_robot_add: mean=42.4ms, total=42.4ms, count=1, min=42.4ms, max=42.4ms
+  asset_install_objects: mean=18.8ms, total=18.8ms, count=1, min=18.8ms, max=18.8ms
+  mj_forward_sync: mean=740.2us, total=13.3ms, count=18, min=0.4ms, max=3.9ms
+  asset_install_scene: mean=7.5ms, total=7.5ms, count=1, min=7.5ms, max=7.5ms
+  policy_setup: mean=28.1us, total=0.5ms, count=18, min=0.0ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/12 16:11:58 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/12 16:11:58 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 12 episodes, total_time=5164.59s
+  Worker averages:
+  episode_total: mean=158.97s, total=2861.44s, count=18, min=3266.3ms, max=237066.8ms
+  sensor_polling: mean=430.9ms, total=1951.17s, count=4528, min=363.4ms, max=846.9ms
+  save_trajectories: mean=11.92s, total=142.99s, count=12, min=11082.7ms, max=12918.9ms
+  physics_step: mean=27.0ms, total=122.18s, count=4528, min=15.6ms, max=152.0ms
+  save_batch_prep: mean=4.48s, total=53.82s, count=12, min=3776.2ms, max=5072.3ms
+  task_sampling: mean=756.3ms, total=13.61s, count=18, min=406.8ms, max=4818.5ms
+  task_specific_sample: mean=521.4ms, total=9.39s, count=18, min=401.7ms, max=716.8ms
+  scene_load: mean=4.15s, total=4.15s, count=1, min=4147.1ms, max=4147.1ms
+  scene_env_create: mean=2.41s, total=2.41s, count=1, min=2413.5ms, max=2413.5ms
+  scene_compile: mean=1.48s, total=1.48s, count=1, min=1483.7ms, max=1483.7ms
+  compile_mujoco: mean=930.3ms, total=930.3ms, count=1, min=930.3ms, max=930.3ms
+  compile_xml_load: mean=427.3ms, total=427.3ms, count=1, min=427.3ms, max=427.3ms
+  scene_init: mean=162.3ms, total=162.3ms, count=1, min=162.3ms, max=162.3ms
+  scene_asset_install: mean=87.1ms, total=87.1ms, count=1, min=87.1ms, max=87.1ms
+  compile_aux_objects: mean=71.7ms, total=71.7ms, count=1, min=71.7ms, max=71.7ms
+  compile_aux_policy_objects: mean=71.7ms, total=71.7ms, count=1, min=71.7ms, max=71.7ms
+  asset_install_grasps: mean=60.7ms, total=60.7ms, count=1, min=60.7ms, max=60.7ms
+  scene_randomize: mean=2.6ms, total=46.0ms, count=18, min=1.4ms, max=3.7ms
+  compile_robot_add: mean=42.4ms, total=42.4ms, count=1, min=42.4ms, max=42.4ms
+  asset_install_objects: mean=18.8ms, total=18.8ms, count=1, min=18.8ms, max=18.8ms
+  mj_forward_sync: mean=740.2us, total=13.3ms, count=18, min=0.4ms, max=3.9ms
+  asset_install_scene: mean=7.5ms, total=7.5ms, count=1, min=7.5ms, max=7.5ms
+  policy_setup: mean=28.1us, total=0.5ms, count=18, min=0.0ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/12 16:11:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 16:11:59 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_017	[save_utils.py: 785]
+05/12 16:11:59 INFO: [Worker 0] Successfully saved trajectory data for chunk_017 in 15.25s (batch: 4.66s, save: 10.59s)	[pipeline.py: 300]
+05/12 16:12:00 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.46s:
+  episode_total: mean=202.00s, total=202.00s, count=1, min=202000.8ms, max=202000.8ms
+  sensor_polling: mean=434.5ms, total=130.36s, count=300, min=379.6ms, max=817.2ms
+  save_trajectories: mean=10.59s, total=10.59s, count=1, min=10587.5ms, max=10587.5ms
+  physics_step: mean=26.2ms, total=7.86s, count=300, min=17.6ms, max=34.9ms
+  save_batch_prep: mean=4.66s, total=4.66s, count=1, min=4664.0ms, max=4664.0ms
+  task_sampling: mean=459.6ms, total=459.6ms, count=1, min=459.6ms, max=459.6ms
+  task_specific_sample: mean=455.2ms, total=455.2ms, count=1, min=455.2ms, max=455.2ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=463.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=22.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 16:12:01 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/12 16:12:01 INFO: Success count: 12, Total count: 12	[pipeline.py: 1491]
+05/12 16:12:01 INFO: Success rate: 100.00%	[pipeline.py: 1492]
+05/12 16:12:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 16:12:01 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 16:12:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 16:12:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 16:12:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 16:12:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 16:12:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 16:12:01 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 16:12:01 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 16:12:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 16:12:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.067m, effective arm-mount z=0.927m (base_body_z=0.067m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 16:12:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 16:12:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 16:12:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.067487m	[env.py: 870]
+05/12 16:12:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 16:12:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 16:12:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 16:12:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -58.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 16:12:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -81.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 16:12:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -175.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 16:12:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.79407274  0.17731108  0.06748737] yaw=153.4deg	[env.py: 1019]
+05/12 16:12:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 16:12:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 121.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 16:12:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.81160803  0.93139502  0.06748737] yaw=-186.1deg	[env.py: 1019]
+05/12 16:12:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 16:12:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.82668691  0.42212293  0.06748737] yaw=169.6deg	[env.py: 1019]
+05/12 16:12:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 16:12:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 16:12:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=150.9ms, total=150.9ms	[env.py: 1075]
+05/12 16:12:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.794, 0.177, 0.067)	[env.py: 1079]
+05/12 16:12:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 153.4 deg	[env.py: 1082]
+05/12 16:12:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.958m	[env.py: 1086]
+05/12 16:12:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 16:12:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 16:12:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 16:12:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 16:12:02 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 16:12:02 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/12 16:12:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.111s	[base_object_manipulation_planner_policy.py: 377]
+05/12 16:12:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 16:12:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 16:12:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.087s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 16:12:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.204s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 16:12:03 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.532[m] 99.164[deg]	[grasp_sample.py: 539]
+05/12 16:12:03 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 16:12:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 16:12:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 16:12:04 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 16:12:23 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_017	[pipeline.py: 1174]
+05/12 16:12:23 INFO: [Worker 0] Batching and saving trajectory data for chunk_017 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/12 16:12:23 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 16:12:24 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 16:12:33 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 16:12:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 16:12:41 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 16:12:41 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_017	[save_utils.py: 785]
+05/12 16:12:41 INFO: [Worker 0] Successfully saved trajectory data for chunk_017 in 17.86s (batch: 6.34s, save: 11.52s)	[pipeline.py: 300]
+05/12 16:12:42 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.49s:
+  episode_total: mean=200.77s, total=200.77s, count=1, min=200771.3ms, max=200771.3ms
+  sensor_polling: mean=452.7ms, total=135.80s, count=300, min=397.9ms, max=1020.3ms
+  save_trajectories: mean=11.52s, total=11.52s, count=1, min=11519.6ms, max=11519.6ms
+  physics_step: mean=24.0ms, total=7.19s, count=300, min=17.2ms, max=38.3ms
+  save_batch_prep: mean=6.34s, total=6.34s, count=1, min=6342.0ms, max=6342.0ms
+  task_sampling: mean=492.4ms, total=492.4ms, count=1, min=492.4ms, max=492.4ms
+  task_specific_sample: mean=488.3ms, total=488.3ms, count=1, min=488.3ms, max=488.3ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=453.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=41.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 16:12:43 WARNING: [Worker 0] No trajectory data to save for chunk_017	[pipeline.py: 234]
+05/12 16:12:43 WARNING: [Worker 0] No trajectory data to save for chunk_017	[pipeline.py: 234]
+05/12 16:12:43 INFO: [Worker 0] Worker 0 completed house 1: 10/13 successful episodes	[pipeline.py: 1323]
+05/12 16:12:43 INFO: [Worker 0] [PROFILE] House 1 complete: 10/13 successful, 13 episodes, total_time=5245.04s
+  House averages:
+  episode_total: mean=161.44s, total=2905.83s, count=18, min=11523.7ms, max=216126.5ms
+  sensor_polling: mean=446.2ms, total=2024.04s, count=4536, min=381.3ms, max=1020.3ms
+  physics_step: mean=26.7ms, total=121.01s, count=4536, min=14.6ms, max=75.2ms
+  save_trajectories: mean=11.52s, total=115.17s, count=10, min=11006.2ms, max=12144.6ms
+  save_batch_prep: mean=4.67s, total=46.66s, count=10, min=3595.9ms, max=6819.0ms
+  task_sampling: mean=742.2ms, total=13.36s, count=18, min=353.9ms, max=4715.7ms
+  task_specific_sample: mean=516.9ms, total=9.30s, count=18, min=349.0ms, max=729.4ms
+  scene_load: mean=3.98s, total=3.98s, count=1, min=3982.4ms, max=3982.4ms
+  scene_env_create: mean=2.26s, total=2.26s, count=1, min=2255.6ms, max=2255.6ms
+  scene_compile: mean=1.54s, total=1.54s, count=1, min=1543.1ms, max=1543.1ms
+  compile_mujoco: mean=838.5ms, total=838.5ms, count=1, min=838.5ms, max=838.5ms
+  compile_xml_load: mean=598.0ms, total=598.0ms, count=1, min=598.0ms, max=598.0ms
+  scene_init: mean=117.5ms, total=117.5ms, count=1, min=117.5ms, max=117.5ms
+  scene_asset_install: mean=65.8ms, total=65.8ms, count=1, min=65.8ms, max=65.8ms
+  compile_aux_objects: mean=53.7ms, total=53.7ms, count=1, min=53.7ms, max=53.7ms
+  compile_aux_policy_objects: mean=53.7ms, total=53.7ms, count=1, min=53.7ms, max=53.7ms
+  asset_install_grasps: mean=45.2ms, total=45.2ms, count=1, min=45.2ms, max=45.2ms
+  compile_robot_add: mean=41.4ms, total=41.4ms, count=1, min=41.4ms, max=41.4ms
+  scene_randomize: mean=2.2ms, total=40.0ms, count=18, min=1.2ms, max=4.2ms
+  asset_install_objects: mean=16.1ms, total=16.1ms, count=1, min=16.1ms, max=16.1ms
+  mj_forward_sync: mean=500.2us, total=9.0ms, count=18, min=0.4ms, max=0.8ms
+  asset_install_scene: mean=4.5ms, total=4.5ms, count=1, min=4.5ms, max=4.5ms
+  policy_setup: mean=23.8us, total=0.4ms, count=18, min=0.0ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/12 16:12:43 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/12 16:12:43 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 13 episodes, total_time=5245.04s
+  Worker averages:
+  episode_total: mean=161.44s, total=2905.83s, count=18, min=11523.7ms, max=216126.5ms
+  sensor_polling: mean=446.2ms, total=2024.04s, count=4536, min=381.3ms, max=1020.3ms
+  physics_step: mean=26.7ms, total=121.01s, count=4536, min=14.6ms, max=75.2ms
+  save_trajectories: mean=11.52s, total=115.17s, count=10, min=11006.2ms, max=12144.6ms
+  save_batch_prep: mean=4.67s, total=46.66s, count=10, min=3595.9ms, max=6819.0ms
+  task_sampling: mean=742.2ms, total=13.36s, count=18, min=353.9ms, max=4715.7ms
+  task_specific_sample: mean=516.9ms, total=9.30s, count=18, min=349.0ms, max=729.4ms
+  scene_load: mean=3.98s, total=3.98s, count=1, min=3982.4ms, max=3982.4ms
+  scene_env_create: mean=2.26s, total=2.26s, count=1, min=2255.6ms, max=2255.6ms
+  scene_compile: mean=1.54s, total=1.54s, count=1, min=1543.1ms, max=1543.1ms
+  compile_mujoco: mean=838.5ms, total=838.5ms, count=1, min=838.5ms, max=838.5ms
+  compile_xml_load: mean=598.0ms, total=598.0ms, count=1, min=598.0ms, max=598.0ms
+  scene_init: mean=117.5ms, total=117.5ms, count=1, min=117.5ms, max=117.5ms
+  scene_asset_install: mean=65.8ms, total=65.8ms, count=1, min=65.8ms, max=65.8ms
+  compile_aux_objects: mean=53.7ms, total=53.7ms, count=1, min=53.7ms, max=53.7ms
+  compile_aux_policy_objects: mean=53.7ms, total=53.7ms, count=1, min=53.7ms, max=53.7ms
+  asset_install_grasps: mean=45.2ms, total=45.2ms, count=1, min=45.2ms, max=45.2ms
+  compile_robot_add: mean=41.4ms, total=41.4ms, count=1, min=41.4ms, max=41.4ms
+  scene_randomize: mean=2.2ms, total=40.0ms, count=18, min=1.2ms, max=4.2ms
+  asset_install_objects: mean=16.1ms, total=16.1ms, count=1, min=16.1ms, max=16.1ms
+  mj_forward_sync: mean=500.2us, total=9.0ms, count=18, min=0.4ms, max=0.8ms
+  asset_install_scene: mean=4.5ms, total=4.5ms, count=1, min=4.5ms, max=4.5ms
+  policy_setup: mean=23.8us, total=0.4ms, count=18, min=0.0ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/12 16:12:46 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/12 16:12:46 INFO: Success count: 10, Total count: 13	[pipeline.py: 1491]
+05/12 16:12:46 INFO: Success rate: 76.92%	[pipeline.py: 1492]
+05/12 16:12:53 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 16:13:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 16:13:04 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 16:13:56 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 16:14:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 16:14:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 16:14:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 16:14:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 16:14:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 16:14:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 16:14:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 16:14:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 16:14:12 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 16:14:12 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 16:14:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 16:14:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 16:14:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/12 16:14:13 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.853s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 16:14:13 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.396[deg]	[grasp_sample.py: 539]
+05/12 16:14:14 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/12 16:14:16 WARNING: [Worker 0] No trajectory data to save for chunk_017	[pipeline.py: 234]
+05/12 16:14:16 WARNING: [Worker 0] No trajectory data to save for chunk_017	[pipeline.py: 234]
+05/12 16:14:16 INFO: [Worker 0] Worker 0 completed house 1: 12/12 successful episodes	[pipeline.py: 1323]
+05/12 16:14:16 INFO: [Worker 0] [PROFILE] House 1 complete: 12/12 successful, 12 episodes, total_time=5440.72s
+  House averages:
+  episode_total: mean=166.55s, total=2997.91s, count=18, min=216.4ms, max=202000.8ms
+  sensor_polling: mean=428.7ms, total=2100.94s, count=4901, min=365.9ms, max=927.5ms
+  physics_step: mean=26.7ms, total=130.75s, count=4901, min=16.8ms, max=81.8ms
+  save_trajectories: mean=10.88s, total=130.53s, count=12, min=10086.1ms, max=12272.8ms
+  save_batch_prep: mean=4.10s, total=49.22s, count=12, min=3478.2ms, max=4664.0ms
+  task_sampling: mean=746.8ms, total=12.70s, count=17, min=362.6ms, max=4826.8ms
+  task_specific_sample: mean=475.9ms, total=8.57s, count=18, min=210.6ms, max=665.8ms
+  scene_load: mean=4.27s, total=4.27s, count=1, min=4273.4ms, max=4273.4ms
+  scene_env_create: mean=2.85s, total=2.85s, count=1, min=2852.9ms, max=2852.9ms
+  scene_compile: mean=1.20s, total=1.20s, count=1, min=1196.9ms, max=1196.9ms
+  compile_mujoco: mean=860.6ms, total=860.6ms, count=1, min=860.6ms, max=860.6ms
+  compile_xml_load: mean=222.6ms, total=222.6ms, count=1, min=222.6ms, max=222.6ms
+  task_sampling_failed: mean=216.3ms, total=216.3ms, count=1, min=216.3ms, max=216.3ms
+  scene_init: mean=166.6ms, total=166.6ms, count=1, min=166.6ms, max=166.6ms
+  scene_asset_install: mean=56.4ms, total=56.4ms, count=1, min=56.4ms, max=56.4ms
+  compile_aux_objects: mean=54.6ms, total=54.6ms, count=1, min=54.6ms, max=54.6ms
+  compile_aux_policy_objects: mean=54.6ms, total=54.6ms, count=1, min=54.6ms, max=54.6ms
+  compile_robot_add: mean=42.5ms, total=42.5ms, count=1, min=42.5ms, max=42.5ms
+  scene_randomize: mean=2.3ms, total=40.9ms, count=18, min=1.1ms, max=3.3ms
+  asset_install_grasps: mean=40.3ms, total=40.3ms, count=1, min=40.3ms, max=40.3ms
+  asset_install_objects: mean=11.8ms, total=11.8ms, count=1, min=11.8ms, max=11.8ms
+  mj_forward_sync: mean=518.3us, total=9.3ms, count=18, min=0.5ms, max=0.8ms
+  asset_install_scene: mean=4.2ms, total=4.2ms, count=1, min=4.2ms, max=4.2ms
+  policy_setup: mean=29.0us, total=0.5ms, count=17, min=0.0ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/12 16:14:16 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/12 16:14:16 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 12 episodes, total_time=5440.72s
+  Worker averages:
+  episode_total: mean=166.55s, total=2997.91s, count=18, min=216.4ms, max=202000.8ms
+  sensor_polling: mean=428.7ms, total=2100.94s, count=4901, min=365.9ms, max=927.5ms
+  physics_step: mean=26.7ms, total=130.75s, count=4901, min=16.8ms, max=81.8ms
+  save_trajectories: mean=10.88s, total=130.53s, count=12, min=10086.1ms, max=12272.8ms
+  save_batch_prep: mean=4.10s, total=49.22s, count=12, min=3478.2ms, max=4664.0ms
+  task_sampling: mean=746.8ms, total=12.70s, count=17, min=362.6ms, max=4826.8ms
+  task_specific_sample: mean=475.9ms, total=8.57s, count=18, min=210.6ms, max=665.8ms
+  scene_load: mean=4.27s, total=4.27s, count=1, min=4273.4ms, max=4273.4ms
+  scene_env_create: mean=2.85s, total=2.85s, count=1, min=2852.9ms, max=2852.9ms
+  scene_compile: mean=1.20s, total=1.20s, count=1, min=1196.9ms, max=1196.9ms
+  compile_mujoco: mean=860.6ms, total=860.6ms, count=1, min=860.6ms, max=860.6ms
+  compile_xml_load: mean=222.6ms, total=222.6ms, count=1, min=222.6ms, max=222.6ms
+  task_sampling_failed: mean=216.3ms, total=216.3ms, count=1, min=216.3ms, max=216.3ms
+  scene_init: mean=166.6ms, total=166.6ms, count=1, min=166.6ms, max=166.6ms
+  scene_asset_install: mean=56.4ms, total=56.4ms, count=1, min=56.4ms, max=56.4ms
+  compile_aux_objects: mean=54.6ms, total=54.6ms, count=1, min=54.6ms, max=54.6ms
+  compile_aux_policy_objects: mean=54.6ms, total=54.6ms, count=1, min=54.6ms, max=54.6ms
+  compile_robot_add: mean=42.5ms, total=42.5ms, count=1, min=42.5ms, max=42.5ms
+  scene_randomize: mean=2.3ms, total=40.9ms, count=18, min=1.1ms, max=3.3ms
+  asset_install_grasps: mean=40.3ms, total=40.3ms, count=1, min=40.3ms, max=40.3ms
+  asset_install_objects: mean=11.8ms, total=11.8ms, count=1, min=11.8ms, max=11.8ms
+  mj_forward_sync: mean=518.3us, total=9.3ms, count=18, min=0.5ms, max=0.8ms
+  asset_install_scene: mean=4.2ms, total=4.2ms, count=1, min=4.2ms, max=4.2ms
+  policy_setup: mean=29.0us, total=0.5ms, count=17, min=0.0ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/12 16:14:19 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/12 16:14:19 INFO: Success count: 12, Total count: 12	[pipeline.py: 1491]
+05/12 16:14:19 INFO: Success rate: 100.00%	[pipeline.py: 1492]
+05/12 16:14:27 INFO: [Worker 0] Saved videos eagerly for episode 13 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_017	[pipeline.py: 1174]
+05/12 16:14:27 INFO: [Worker 0] Batching and saving trajectory data for chunk_017 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/12 16:14:27 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 16:14:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 16:14:42 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_017	[save_utils.py: 785]
+05/12 16:14:42 INFO: [Worker 0] Successfully saved trajectory data for chunk_017 in 14.76s (batch: 4.33s, save: 10.42s)	[pipeline.py: 300]
+05/12 16:14:43 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.52s:
+  episode_total: mean=176.33s, total=176.33s, count=1, min=176331.1ms, max=176331.1ms
+  sensor_polling: mean=395.2ms, total=118.57s, count=300, min=366.8ms, max=879.9ms
+  save_trajectories: mean=10.42s, total=10.42s, count=1, min=10423.4ms, max=10423.4ms
+  physics_step: mean=23.2ms, total=6.97s, count=300, min=16.6ms, max=30.6ms
+  save_batch_prep: mean=4.33s, total=4.33s, count=1, min=4332.5ms, max=4332.5ms
+  task_sampling: mean=521.0ms, total=521.0ms, count=1, min=521.0ms, max=521.0ms
+  task_specific_sample: mean=517.2ms, total=517.2ms, count=1, min=517.2ms, max=517.2ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=448.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=15.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 16:14:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 16:14:44 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 16:14:44 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 16:14:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 16:14:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 16:14:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 16:14:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 16:14:44 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 16:14:44 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 16:14:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 16:14:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.048m, effective arm-mount z=0.908m (base_body_z=0.048m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 16:14:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 16:14:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 16:14:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.048010m	[env.py: 870]
+05/12 16:14:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 16:14:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 16:14:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 16:14:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -70.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 16:14:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.89071562  0.80202368  0.04800969] yaw=-125.5deg	[env.py: 1019]
+05/12 16:14:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 16:14:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -30.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 16:14:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.74606027  0.06002814  0.04800969] yaw=152.6deg	[env.py: 1019]
+05/12 16:14:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 16:14:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 114.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 16:14:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.84086719  0.45077862  0.04800969] yaw=184.4deg	[env.py: 1019]
+05/12 16:14:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 16:14:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 16:14:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=188.9ms, total=189.0ms	[env.py: 1075]
+05/12 16:14:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.891, 0.802, 0.048)	[env.py: 1079]
+05/12 16:14:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -125.5 deg	[env.py: 1082]
+05/12 16:14:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.872m	[env.py: 1086]
+05/12 16:14:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 16:14:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 16:14:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 16:14:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 16:14:44 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 16:14:44 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/12 16:14:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.112s	[base_object_manipulation_planner_policy.py: 377]
+05/12 16:14:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 16:14:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 16:14:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 16:14:46 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.041s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 16:14:46 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.529[m] 85.360[deg]	[grasp_sample.py: 539]
+05/12 16:14:46 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 16:14:46 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 16:14:46 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 16:15:28 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 16:15:36 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 16:15:40 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 16:16:50 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 16:17:20 INFO: [Worker 0] Saved videos eagerly for episode 14 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_017	[pipeline.py: 1174]
+05/12 16:17:20 INFO: [Worker 0] Batching and saving trajectory data for chunk_017 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/12 16:17:20 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 16:17:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 16:17:34 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_017	[save_utils.py: 785]
+05/12 16:17:34 INFO: [Worker 0] Successfully saved trajectory data for chunk_017 in 14.36s (batch: 4.40s, save: 9.96s)	[pipeline.py: 300]
+05/12 16:17:35 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.49s:
+  episode_total: mean=170.86s, total=170.86s, count=1, min=170863.2ms, max=170863.2ms
+  sensor_polling: mean=384.4ms, total=115.31s, count=300, min=362.7ms, max=778.8ms
+  save_trajectories: mean=9.96s, total=9.96s, count=1, min=9959.4ms, max=9959.4ms
+  physics_step: mean=22.7ms, total=6.80s, count=300, min=18.1ms, max=25.2ms
+  save_batch_prep: mean=4.40s, total=4.40s, count=1, min=4402.7ms, max=4402.7ms
+  task_sampling: mean=489.6ms, total=489.6ms, count=1, min=489.6ms, max=489.6ms
+  task_specific_sample: mean=485.6ms, total=485.6ms, count=1, min=485.6ms, max=485.6ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=456.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=16.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 16:17:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 16:17:36 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 16:17:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 16:17:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 16:17:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 16:17:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 16:17:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 16:17:36 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 16:17:36 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 16:17:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 16:17:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.098m, effective arm-mount z=0.958m (base_body_z=0.098m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 16:17:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 16:17:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 16:17:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.097523m	[env.py: 870]
+05/12 16:17:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 16:17:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 16:17:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 16:17:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -51.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 16:17:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 109.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 16:17:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 63.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 16:17:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -47.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 16:17:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.13901985  1.13237016  0.09752292] yaw=-134.5deg	[env.py: 1019]
+05/12 16:17:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 16:17:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.86063949  0.82452573  0.09752292] yaw=-164.4deg	[env.py: 1019]
+05/12 16:17:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 16:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 16:17:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=217.2ms, total=217.3ms	[env.py: 1075]
+05/12 16:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.139, 1.132, 0.098)	[env.py: 1079]
+05/12 16:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -134.5 deg	[env.py: 1082]
+05/12 16:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.860m	[env.py: 1086]
+05/12 16:17:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 16:17:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 16:17:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 16:17:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 16:17:37 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 16:17:37 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/12 16:17:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.116s	[base_object_manipulation_planner_policy.py: 377]
+05/12 16:17:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 16:17:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 16:17:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 16:17:40 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.754s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 16:17:40 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.465[m] 91.794[deg]	[grasp_sample.py: 539]
+05/12 16:17:40 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 16:17:40 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 16:17:40 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 16:18:17 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 16:18:24 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 16:18:28 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 16:19:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 16:19:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 16:19:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 16:19:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 16:19:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 16:19:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 16:19:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 16:19:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 16:19:33 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 16:19:33 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 16:19:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 16:19:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 16:19:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/12 16:19:36 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.813s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 16:19:36 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 1.078[deg]	[grasp_sample.py: 539]
+05/12 16:19:37 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/12 16:19:39 WARNING: [Worker 0] No trajectory data to save for chunk_017	[pipeline.py: 234]
+05/12 16:19:39 WARNING: [Worker 0] No trajectory data to save for chunk_017	[pipeline.py: 234]
+05/12 16:19:39 INFO: [Worker 0] Worker 0 completed house 1: 15/16 successful episodes	[pipeline.py: 1323]
+05/12 16:19:39 INFO: [Worker 0] [PROFILE] House 1 complete: 15/16 successful, 16 episodes, total_time=5961.90s
+  House averages:
+  episode_total: mean=184.59s, total=3322.70s, count=18, min=121150.2ms, max=206062.4ms
+  sensor_polling: mean=423.6ms, total=2242.76s, count=5294, min=362.7ms, max=882.5ms
+  save_trajectories: mean=10.99s, total=164.86s, count=15, min=9959.4ms, max=12439.2ms
+  physics_step: mean=26.1ms, total=138.34s, count=5294, min=14.7ms, max=90.0ms
+  save_batch_prep: mean=4.01s, total=60.08s, count=15, min=3569.0ms, max=4405.5ms
+  task_sampling: mean=752.8ms, total=13.55s, count=18, min=387.7ms, max=5032.7ms
+  task_specific_sample: mean=497.9ms, total=8.96s, count=18, min=384.0ms, max=606.9ms
+  scene_load: mean=4.51s, total=4.51s, count=1, min=4513.4ms, max=4513.4ms
+  scene_env_create: mean=2.62s, total=2.62s, count=1, min=2621.6ms, max=2621.6ms
+  scene_compile: mean=1.45s, total=1.45s, count=1, min=1451.7ms, max=1451.7ms
+  compile_mujoco: mean=966.8ms, total=966.8ms, count=1, min=966.8ms, max=966.8ms
+  scene_init: mean=380.6ms, total=380.6ms, count=1, min=380.6ms, max=380.6ms
+  compile_xml_load: mean=360.9ms, total=360.9ms, count=1, min=360.9ms, max=360.9ms
+  compile_aux_objects: mean=71.8ms, total=71.8ms, count=1, min=71.8ms, max=71.8ms
+  compile_aux_policy_objects: mean=71.8ms, total=71.8ms, count=1, min=71.8ms, max=71.8ms
+  scene_asset_install: mean=58.9ms, total=58.9ms, count=1, min=58.9ms, max=58.9ms
+  scene_randomize: mean=2.6ms, total=47.3ms, count=18, min=1.4ms, max=3.6ms
+  asset_install_grasps: mean=41.3ms, total=41.3ms, count=1, min=41.3ms, max=41.3ms
+  compile_robot_add: mean=40.8ms, total=40.8ms, count=1, min=40.8ms, max=40.8ms
+  asset_install_objects: mean=13.3ms, total=13.3ms, count=1, min=13.3ms, max=13.3ms
+  mj_forward_sync: mean=515.0us, total=9.3ms, count=18, min=0.4ms, max=0.7ms
+  asset_install_scene: mean=4.4ms, total=4.4ms, count=1, min=4.4ms, max=4.4ms
+  policy_setup: mean=25.9us, total=0.5ms, count=18, min=0.0ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/12 16:19:39 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/12 16:19:39 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 16 episodes, total_time=5961.90s
+  Worker averages:
+  episode_total: mean=184.59s, total=3322.70s, count=18, min=121150.2ms, max=206062.4ms
+  sensor_polling: mean=423.6ms, total=2242.76s, count=5294, min=362.7ms, max=882.5ms
+  save_trajectories: mean=10.99s, total=164.86s, count=15, min=9959.4ms, max=12439.2ms
+  physics_step: mean=26.1ms, total=138.34s, count=5294, min=14.7ms, max=90.0ms
+  save_batch_prep: mean=4.01s, total=60.08s, count=15, min=3569.0ms, max=4405.5ms
+  task_sampling: mean=752.8ms, total=13.55s, count=18, min=387.7ms, max=5032.7ms
+  task_specific_sample: mean=497.9ms, total=8.96s, count=18, min=384.0ms, max=606.9ms
+  scene_load: mean=4.51s, total=4.51s, count=1, min=4513.4ms, max=4513.4ms
+  scene_env_create: mean=2.62s, total=2.62s, count=1, min=2621.6ms, max=2621.6ms
+  scene_compile: mean=1.45s, total=1.45s, count=1, min=1451.7ms, max=1451.7ms
+  compile_mujoco: mean=966.8ms, total=966.8ms, count=1, min=966.8ms, max=966.8ms
+  scene_init: mean=380.6ms, total=380.6ms, count=1, min=380.6ms, max=380.6ms
+  compile_xml_load: mean=360.9ms, total=360.9ms, count=1, min=360.9ms, max=360.9ms
+  compile_aux_objects: mean=71.8ms, total=71.8ms, count=1, min=71.8ms, max=71.8ms
+  compile_aux_policy_objects: mean=71.8ms, total=71.8ms, count=1, min=71.8ms, max=71.8ms
+  scene_asset_install: mean=58.9ms, total=58.9ms, count=1, min=58.9ms, max=58.9ms
+  scene_randomize: mean=2.6ms, total=47.3ms, count=18, min=1.4ms, max=3.6ms
+  asset_install_grasps: mean=41.3ms, total=41.3ms, count=1, min=41.3ms, max=41.3ms
+  compile_robot_add: mean=40.8ms, total=40.8ms, count=1, min=40.8ms, max=40.8ms
+  asset_install_objects: mean=13.3ms, total=13.3ms, count=1, min=13.3ms, max=13.3ms
+  mj_forward_sync: mean=515.0us, total=9.3ms, count=18, min=0.4ms, max=0.7ms
+  asset_install_scene: mean=4.4ms, total=4.4ms, count=1, min=4.4ms, max=4.4ms
+  policy_setup: mean=25.9us, total=0.5ms, count=18, min=0.0ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/12 16:19:42 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/12 16:19:42 INFO: Success count: 15, Total count: 16	[pipeline.py: 1491]
+05/12 16:19:42 INFO: Success rate: 93.75%	[pipeline.py: 1492]

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