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+05/15 00:30:58 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/15 00:30:58 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/15 00:30:58 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/15 00:30:58 INFO: {'batch_num': 2,
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+                                'fov_noise_degrees': None,
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+                                'reference_body_names': ['robot_0/fr3_link0'],
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+                                'up_axis': 'z',
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+                         'objaverse_oversampling_factor': 30,
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+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.5,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 3,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/15 00:30:58 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/15 00:30:58 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/15 00:30:58 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/15 00:30:58 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/15 00:30:58 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/15 00:30:58 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/15 00:30:58 INFO: {'batch_num': 1,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_305'),
+ 'output_suffix': '_cam_rand',
+ 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
+                   'policy_type': 'planner'},
+ 'policy_dt_ms': 66.0,
+ 'profile': True,
+ 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x78f56ceb6550>,
+ 'robot_config': {'K_damping': [793.0831592413665,
+                                241.62769618042807,
+                                300.12442783719814,
+                                440.9812092338339,
+                                500.000000000004,
+                                311.89516163317654,
+                                500.000000000004],
+                  'K_stiffness': [5132.972657172051,
+                                  1060.4599870990814,
+                                  1814.2516466742627,
+                                  2282.7973699783515,
+                                  2963.6502662461776,
+                                  1843.22950428842,
+                                  2505.657053829795],
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.4,
+                                                    0.4,
+                                                    0.4,
+                                                    0.4,
+                                                    0.4,
+                                                    0.4,
+                                                    0.4]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_m',
+ 'seed': 80501,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (-0.1, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.8, 1.2),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 1.0),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.5,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 3,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/15 00:30:58 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/15 00:30:58 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/15 00:30:58 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/15 00:30:58 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/15 00:30:58 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/15 00:30:58 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/15 00:30:58 INFO: {'batch_num': 3,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_305'),
+ 'output_suffix': '_cam_rand',
+ 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
+                   'policy_type': 'planner'},
+ 'policy_dt_ms': 66.0,
+ 'profile': True,
+ 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x71212148c1d0>,
+ 'robot_config': {'K_damping': [793.0831592413665,
+                                241.62769618042807,
+                                300.12442783719814,
+                                440.9812092338339,
+                                500.000000000004,
+                                311.89516163317654,
+                                500.000000000004],
+                  'K_stiffness': [5132.972657172051,
+                                  1060.4599870990814,
+                                  1814.2516466742627,
+                                  2282.7973699783515,
+                                  2963.6502662461776,
+                                  1843.22950428842,
+                                  2505.657053829795],
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.4,
+                                                    0.4,
+                                                    0.4,
+                                                    0.4,
+                                                    0.4,
+                                                    0.4,
+                                                    0.4]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_m',
+ 'seed': 80503,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (-0.1, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.8, 1.2),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 1.0),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.5,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 3,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/15 00:30:58 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/15 00:30:58 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/15 00:30:58 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/15 00:30:58 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/15 00:30:58 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/15 00:30:58 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/15 00:31:00 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/15 00:31:00 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/15 00:31:00 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/15 00:31:00 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/15 00:31:00 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/15 00:31:00 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/15 00:31:00 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/15 00:31:00 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/15 00:31:00 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:31:00 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:31:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:31:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:31:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:31:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:31:00 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:31:00 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 00:31:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:31:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.003m, effective arm-mount z=0.863m (base_body_z=0.003m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:31:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:31:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:31:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.002519m	[env.py: 870]
+05/15 00:31:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:31:00 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/15 00:31:00 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/15 00:31:00 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/15 00:31:00 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:31:00 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:31:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:31:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:31:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:31:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:31:00 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:31:00 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 00:31:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:31:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.056m, effective arm-mount z=0.804m (base_body_z=-0.056m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:31:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:31:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:31:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.056033m	[env.py: 870]
+05/15 00:31:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:31:00 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/15 00:31:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:31:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:31:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.29539856 -0.41644308 -0.05603311] yaw=-137.2deg	[env.py: 1019]
+05/15 00:31:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 58.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:31:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 76.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 77.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -179.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.35768913 -0.10906577 -0.05603311] yaw=-109.9deg	[env.py: 1019]
+05/15 00:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 73.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.27516691 -0.02313647  0.00251941] yaw=-139.1deg	[env.py: 1019]
+05/15 00:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 90.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.08740437 -0.74686954  0.00251941] yaw=-191.5deg	[env.py: 1019]
+05/15 00:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.22019939 -0.6699936   0.00251941] yaw=-185.3deg	[env.py: 1019]
+05/15 00:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 00:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:31:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=15.0ms, retries=213.2ms, total=228.2ms	[env.py: 1075]
+05/15 00:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.275, -0.023, 0.003)	[env.py: 1079]
+05/15 00:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -139.1 deg	[env.py: 1082]
+05/15 00:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.126m	[env.py: 1086]
+05/15 00:31:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:31:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:31:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:31:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:31:01 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/15 00:31:01 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/15 00:31:01 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:31:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:31:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:31:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:31:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:31:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:31:01 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:31:01 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 00:31:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:31:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.065m, effective arm-mount z=0.795m (base_body_z=-0.065m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.064939m	[env.py: 870]
+05/15 00:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:31:01 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/15 00:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 174.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.04813185 -0.46298178 -0.05603311] yaw=-160.1deg	[env.py: 1019]
+05/15 00:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 00:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:31:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=15.4ms, retries=343.2ms, total=358.6ms	[env.py: 1075]
+05/15 00:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.295, -0.416, -0.056)	[env.py: 1079]
+05/15 00:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -137.2 deg	[env.py: 1082]
+05/15 00:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.875m	[env.py: 1086]
+05/15 00:31:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:31:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:31:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:31:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18673 free points within sampling radius	[env.py: 907]
+05/15 00:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -163.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 155.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.1470265  -0.38035146 -0.06493859] yaw=-171.0deg	[env.py: 1019]
+05/15 00:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 135.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 91.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.09008381 -0.6709853  -0.06493859] yaw=-153.4deg	[env.py: 1019]
+05/15 00:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:31:01 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:31:01 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:31:01 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:31:01 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:31:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=24.3ms, retries=511.1ms, total=535.3ms	[env.py: 1075]
+05/15 00:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.147, -0.380, -0.065)	[env.py: 1079]
+05/15 00:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -171.0 deg	[env.py: 1082]
+05/15 00:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.025m	[env.py: 1086]
+05/15 00:31:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:31:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:31:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:31:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:31:01 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:31:01 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:31:30 INFO: [Worker 0] Warmed up parallel IK solver in 28.234s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:31:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:31:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:31:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:31:30 INFO: [Worker 0] Warmed up parallel IK solver in 28.905s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:31:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:31:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:31:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.094s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:31:30 INFO: [Worker 0] Warmed up parallel IK solver in 29.316s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:31:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:31:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:31:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:31:31 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.793s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:31:31 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.507[m] 96.787[deg]	[grasp_sample.py: 539]
+05/15 00:31:31 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:31:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:31:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:31:32 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 00:31:32 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.131s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:31:32 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.572[m] 95.322[deg]	[grasp_sample.py: 539]
+05/15 00:31:32 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:31:32 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:31:32 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:31:32 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.937s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 00:31:32 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 00:31:33 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 00:31:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:31:34 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:31:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:31:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:31:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:31:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:31:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:31:34 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:31:34 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 00:31:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:31:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.068m, effective arm-mount z=0.792m (base_body_z=-0.068m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:31:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:31:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:31:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.067880m	[env.py: 870]
+05/15 00:31:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:31:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:31:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:31:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.33850395 -0.47896711 -0.06787978] yaw=-127.5deg	[env.py: 1019]
+05/15 00:31:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:31:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 102.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:31:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.29475863 -0.40566959 -0.06787978] yaw=-179.1deg	[env.py: 1019]
+05/15 00:31:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:31:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 136.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:31:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 139.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:31:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.49310496 -0.15171665 -0.06787978] yaw=-131.3deg	[env.py: 1019]
+05/15 00:31:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 00:31:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:31:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=139.7ms, total=139.8ms	[env.py: 1075]
+05/15 00:31:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.339, -0.479, -0.068)	[env.py: 1079]
+05/15 00:31:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -127.5 deg	[env.py: 1082]
+05/15 00:31:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.809m	[env.py: 1086]
+05/15 00:31:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:31:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:31:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:31:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:31:34 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:31:34 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:31:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:31:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:31:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:31:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:31:35 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.542s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:31:35 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.481[m] 108.949[deg]	[grasp_sample.py: 539]
+05/15 00:31:35 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:31:35 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:31:35 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:31:36 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 00:32:17 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:32:17 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:32:24 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:32:25 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:32:25 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:32:29 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:32:29 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:32:33 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:32:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:33:41 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 00:33:46 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 00:33:47 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 00:33:58 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_305	[pipeline.py: 1174]
+05/15 00:33:58 INFO: [Worker 0] Batching and saving trajectory data for chunk_305 batch 2/3: 1 episodes	[pipeline.py: 238]
+05/15 00:33:58 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 00:34:02 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_305	[pipeline.py: 1174]
+05/15 00:34:02 INFO: [Worker 0] Batching and saving trajectory data for chunk_305 batch 1/3: 1 episodes	[pipeline.py: 238]
+05/15 00:34:02 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 00:34:07 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_305	[pipeline.py: 1174]
+05/15 00:34:07 INFO: [Worker 0] Batching and saving trajectory data for chunk_305 batch 3/3: 1 episodes	[pipeline.py: 238]
+05/15 00:34:07 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 00:34:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 00:34:09 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_305	[save_utils.py: 785]
+05/15 00:34:09 INFO: [Worker 0] Successfully saved trajectory data for chunk_305 in 11.63s (batch: 2.86s, save: 8.77s)	[pipeline.py: 300]
+05/15 00:34:10 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=3.92s:
+  episode_total: mean=95.36s, total=190.72s, count=2, min=34916.2ms, max=155804.2ms
+  sensor_polling: mean=390.9ms, total=117.26s, count=300, min=299.8ms, max=581.3ms
+  save_trajectories: mean=8.77s, total=8.77s, count=1, min=8774.5ms, max=8774.5ms
+  physics_step: mean=22.2ms, total=6.67s, count=300, min=13.5ms, max=27.7ms
+  task_sampling: mean=1.96s, total=3.92s, count=2, min=337.6ms, max=3581.2ms
+  save_batch_prep: mean=2.86s, total=2.86s, count=1, min=2856.4ms, max=2856.4ms
+  scene_load: mean=2.82s, total=2.82s, count=1, min=2818.6ms, max=2818.6ms
+  scene_env_create: mean=1.70s, total=1.70s, count=1, min=1696.3ms, max=1696.3ms
+  task_specific_sample: mean=547.6ms, total=1.10s, count=2, min=335.2ms, max=759.9ms
+  scene_compile: mean=1.01s, total=1.01s, count=1, min=1005.1ms, max=1005.1ms
+  compile_mujoco: mean=634.9ms, total=634.9ms, count=1, min=634.9ms, max=634.9ms
+  compile_xml_load: mean=302.3ms, total=302.3ms, count=1, min=302.3ms, max=302.3ms
+  scene_init: mean=77.6ms, total=77.6ms, count=1, min=77.6ms, max=77.6ms
+  compile_aux_objects: mean=42.2ms, total=42.2ms, count=1, min=42.2ms, max=42.2ms
+  compile_aux_policy_objects: mean=42.2ms, total=42.2ms, count=1, min=42.2ms, max=42.2ms
+  scene_asset_install: mean=39.0ms, total=39.0ms, count=1, min=39.0ms, max=39.0ms
+  asset_install_grasps: mean=27.4ms, total=27.4ms, count=1, min=27.4ms, max=27.4ms
+  compile_robot_add: mean=16.3ms, total=16.3ms, count=1, min=16.3ms, max=16.3ms
+  asset_install_objects: mean=8.6ms, total=8.6ms, count=1, min=8.6ms, max=8.6ms
+  asset_install_scene: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
+  scene_randomize: mean=1.2ms, total=2.4ms, count=2, min=1.2ms, max=1.2ms
+  mj_forward_sync: mean=338.2us, total=0.7ms, count=2, min=0.3ms, max=0.3ms
+  policy_setup: mean=40.6us, total=0.1ms, count=2, min=0.0ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 00:34:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:34:11 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:34:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:34:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:34:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:34:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:34:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:34:11 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:34:11 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 00:34:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:34:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.023m, effective arm-mount z=0.883m (base_body_z=0.023m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:34:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:34:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:34:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.023462m	[env.py: 870]
+05/15 00:34:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:34:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:34:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:34:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 113.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:34:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.40121445  0.06986982  0.02346173] yaw=-108.5deg	[env.py: 1019]
+05/15 00:34:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:34:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -53.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:34:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.16005615 -1.17817116  0.02346173] yaw=161.1deg	[env.py: 1019]
+05/15 00:34:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:34:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.05175653 -1.20369746  0.02346173] yaw=144.6deg	[env.py: 1019]
+05/15 00:34:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 00:34:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:34:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=103.3ms, total=103.3ms	[env.py: 1075]
+05/15 00:34:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.401, 0.070, 0.023)	[env.py: 1079]
+05/15 00:34:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -108.5 deg	[env.py: 1082]
+05/15 00:34:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.113m	[env.py: 1086]
+05/15 00:34:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:34:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:34:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:34:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:34:11 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:34:11 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:34:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.092s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:34:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:34:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:34:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:34:13 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.936s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 00:34:13 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 00:34:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 00:34:13 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_305	[save_utils.py: 785]
+05/15 00:34:13 INFO: [Worker 0] Successfully saved trajectory data for chunk_305 in 11.11s (batch: 2.68s, save: 8.43s)	[pipeline.py: 300]
+05/15 00:34:14 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=3.35s:
+  episode_total: mean=196.33s, total=196.33s, count=1, min=196334.2ms, max=196334.2ms
+  sensor_polling: mean=416.8ms, total=125.03s, count=300, min=324.2ms, max=623.5ms
+  save_trajectories: mean=8.43s, total=8.43s, count=1, min=8426.8ms, max=8426.8ms
+  physics_step: mean=24.0ms, total=7.20s, count=300, min=13.6ms, max=30.0ms
+  task_sampling: mean=3.35s, total=3.35s, count=1, min=3349.6ms, max=3349.6ms
+  scene_load: mean=2.68s, total=2.68s, count=1, min=2682.5ms, max=2682.5ms
+  save_batch_prep: mean=2.68s, total=2.68s, count=1, min=2679.7ms, max=2679.7ms
+  scene_env_create: mean=1.71s, total=1.71s, count=1, min=1714.1ms, max=1714.1ms
+  scene_compile: mean=849.4ms, total=849.4ms, count=1, min=849.4ms, max=849.4ms
+  task_specific_sample: mean=664.2ms, total=664.2ms, count=1, min=664.2ms, max=664.2ms
+  compile_mujoco: mean=627.8ms, total=627.8ms, count=1, min=627.8ms, max=627.8ms
+  compile_xml_load: mean=153.0ms, total=153.0ms, count=1, min=153.0ms, max=153.0ms
+  scene_init: mean=74.8ms, total=74.8ms, count=1, min=74.8ms, max=74.8ms
+  scene_asset_install: mean=43.9ms, total=43.9ms, count=1, min=43.9ms, max=43.9ms
+  compile_aux_objects: mean=42.3ms, total=42.3ms, count=1, min=42.3ms, max=42.3ms
+  compile_aux_policy_objects: mean=42.3ms, total=42.3ms, count=1, min=42.3ms, max=42.3ms
+  asset_install_grasps: mean=32.8ms, total=32.8ms, count=1, min=32.8ms, max=32.8ms
+  compile_robot_add: mean=16.3ms, total=16.3ms, count=1, min=16.3ms, max=16.3ms
+  asset_install_objects: mean=8.2ms, total=8.2ms, count=1, min=8.2ms, max=8.2ms
+  asset_install_scene: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  scene_randomize: mean=1.2ms, total=1.2ms, count=1, min=1.2ms, max=1.2ms
+  mj_forward_sync: mean=335.4us, total=0.3ms, count=1, min=0.3ms, max=0.3ms
+  policy_setup: mean=52.8us, total=0.1ms, count=1, min=0.1ms, max=0.1ms	[profiler_utils.py: 380]
+05/15 00:34:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:34:15 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:34:15 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:34:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:34:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:34:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:34:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:34:15 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:34:15 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 00:34:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:34:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.068m, effective arm-mount z=0.792m (base_body_z=-0.068m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:34:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:34:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:34:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.067539m	[env.py: 870]
+05/15 00:34:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:34:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:34:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:34:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -168.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:34:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 138.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:34:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 109.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:34:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -56.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:34:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 61.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:34:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.20927813 -0.5713426  -0.06753939] yaw=-169.1deg	[env.py: 1019]
+05/15 00:34:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:34:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.17180546 -0.46406724 -0.06753939] yaw=-168.2deg	[env.py: 1019]
+05/15 00:34:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:34:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:34:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=183.5ms, total=183.5ms	[env.py: 1075]
+05/15 00:34:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.209, -0.571, -0.068)	[env.py: 1079]
+05/15 00:34:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -169.1 deg	[env.py: 1082]
+05/15 00:34:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.899m	[env.py: 1086]
+05/15 00:34:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:34:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:34:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:34:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:34:15 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:34:15 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:34:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:34:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:34:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:34:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:34:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:34:16 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:34:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:34:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:34:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:34:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:34:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:34:16 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:34:16 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 00:34:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:34:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.012m, effective arm-mount z=0.872m (base_body_z=0.012m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:34:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:34:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:34:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.012224m	[env.py: 870]
+05/15 00:34:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:34:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:34:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:34:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 124.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:34:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 96.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:34:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 104.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:34:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -41.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:34:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 135.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:34:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.48368927 -0.22915825  0.01222419] yaw=-116.4deg	[env.py: 1019]
+05/15 00:34:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:34:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.27990104 -0.47779074  0.01222419] yaw=-164.9deg	[env.py: 1019]
+05/15 00:34:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:34:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:34:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=249.4ms, total=249.5ms	[env.py: 1075]
+05/15 00:34:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.484, -0.229, 0.012)	[env.py: 1079]
+05/15 00:34:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -116.4 deg	[env.py: 1082]
+05/15 00:34:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.833m	[env.py: 1086]
+05/15 00:34:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:34:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:34:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:34:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:34:16 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.832s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:34:16 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.617[m] 89.094[deg]	[grasp_sample.py: 539]
+05/15 00:34:16 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:34:16 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:34:16 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:34:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:34:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:34:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:34:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:34:16 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:34:16 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:34:17 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 00:34:17 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.629s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:34:17 INFO: [Worker 0] Feasible grasp found 124 (originally 9): w/ 0.561[m] 106.828[deg]	[grasp_sample.py: 539]
+05/15 00:34:17 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:34:17 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:34:17 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:34:18 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 00:34:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 00:34:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_305	[save_utils.py: 785]
+05/15 00:34:20 INFO: [Worker 0] Successfully saved trajectory data for chunk_305 in 13.10s (batch: 4.37s, save: 8.72s)	[pipeline.py: 300]
+05/15 00:34:20 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=3.55s:
+  episode_total: mean=202.56s, total=202.56s, count=1, min=202557.0ms, max=202557.0ms
+  sensor_polling: mean=418.5ms, total=125.55s, count=300, min=314.4ms, max=624.6ms
+  save_trajectories: mean=8.72s, total=8.72s, count=1, min=8724.6ms, max=8724.6ms
+  physics_step: mean=23.4ms, total=7.03s, count=300, min=15.3ms, max=32.6ms
+  save_batch_prep: mean=4.37s, total=4.37s, count=1, min=4373.0ms, max=4373.0ms
+  task_sampling: mean=3.55s, total=3.55s, count=1, min=3554.8ms, max=3554.8ms
+  scene_load: mean=2.78s, total=2.78s, count=1, min=2777.8ms, max=2777.8ms
+  scene_env_create: mean=1.59s, total=1.59s, count=1, min=1591.0ms, max=1591.0ms
+  scene_compile: mean=864.2ms, total=864.2ms, count=1, min=864.2ms, max=864.2ms
+  task_specific_sample: mean=774.4ms, total=774.4ms, count=1, min=774.4ms, max=774.4ms
+  compile_mujoco: mean=564.9ms, total=564.9ms, count=1, min=564.9ms, max=564.9ms
+  scene_init: mean=279.3ms, total=279.3ms, count=1, min=279.3ms, max=279.3ms
+  compile_xml_load: mean=178.5ms, total=178.5ms, count=1, min=178.5ms, max=178.5ms
+  compile_aux_objects: mean=74.9ms, total=74.9ms, count=1, min=74.9ms, max=74.9ms
+  compile_aux_policy_objects: mean=74.8ms, total=74.8ms, count=1, min=74.8ms, max=74.8ms
+  scene_asset_install: mean=43.0ms, total=43.0ms, count=1, min=43.0ms, max=43.0ms
+  compile_robot_add: mean=34.9ms, total=34.9ms, count=1, min=34.9ms, max=34.9ms
+  asset_install_grasps: mean=31.4ms, total=31.4ms, count=1, min=31.4ms, max=31.4ms
+  asset_install_objects: mean=9.1ms, total=9.1ms, count=1, min=9.1ms, max=9.1ms
+  asset_install_scene: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  scene_randomize: mean=1.2ms, total=1.2ms, count=1, min=1.2ms, max=1.2ms
+  mj_forward_sync: mean=512.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=41.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 00:34:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:34:22 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:34:22 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:34:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:34:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:34:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:34:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:34:22 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:34:22 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 00:34:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:34:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.027m, effective arm-mount z=0.887m (base_body_z=0.027m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:34:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:34:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:34:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.027149m	[env.py: 870]
+05/15 00:34:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:34:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:34:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18673 free points within sampling radius	[env.py: 907]
+05/15 00:34:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.23185844 -0.3038353   0.02714941] yaw=-132.9deg	[env.py: 1019]
+05/15 00:34:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:34:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 126.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:34:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -40.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:34:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 80.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:34:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -58.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:34:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.19982274 -0.77074456  0.02714941] yaw=-196.6deg	[env.py: 1019]
+05/15 00:34:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:34:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:34:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=441.4ms, total=441.4ms	[env.py: 1075]
+05/15 00:34:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.232, -0.304, 0.027)	[env.py: 1079]
+05/15 00:34:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -132.9 deg	[env.py: 1082]
+05/15 00:34:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.986m	[env.py: 1086]
+05/15 00:34:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:34:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:34:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:34:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:34:23 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:34:23 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:34:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.170s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:34:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:34:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:34:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:34:26 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.323s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:34:26 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.647[m] 90.118[deg]	[grasp_sample.py: 539]
+05/15 00:34:28 ERROR: [Worker 0] Worker 0 house 1 episode 1 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/15 00:34:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:34:29 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:34:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:34:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:34:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:34:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:34:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:34:29 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:34:29 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 00:34:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:34:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.060m, effective arm-mount z=0.920m (base_body_z=0.060m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:34:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:34:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:34:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.059724m	[env.py: 870]
+05/15 00:34:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:34:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:34:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18673 free points within sampling radius	[env.py: 907]
+05/15 00:34:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 147.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:34:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 78.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:34:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 58.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:34:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 126.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:34:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.02112467 -0.5764986   0.05972415] yaw=-180.3deg	[env.py: 1019]
+05/15 00:34:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:34:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.2499025  -1.08630278  0.05972415] yaw=149.0deg	[env.py: 1019]
+05/15 00:34:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:34:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.00781681 -0.6624134   0.05972415] yaw=-173.3deg	[env.py: 1019]
+05/15 00:34:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 00:34:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:34:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=186.4ms, total=186.5ms	[env.py: 1075]
+05/15 00:34:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.021, -0.576, 0.060)	[env.py: 1079]
+05/15 00:34:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -180.3 deg	[env.py: 1082]
+05/15 00:34:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.080m	[env.py: 1086]
+05/15 00:34:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:34:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:34:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:34:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:34:30 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:34:30 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:34:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:34:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:34:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:34:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:34:32 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.427s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:34:32 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.594[m] 77.980[deg]	[grasp_sample.py: 539]
+05/15 00:34:32 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:34:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:34:33 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:34:33 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 00:35:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:35:05 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:35:09 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:35:12 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:35:15 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:35:19 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:35:25 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:35:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:35:38 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:36:18 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 00:36:26 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 00:36:37 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_305	[pipeline.py: 1174]
+05/15 00:36:37 INFO: [Worker 0] Batching and saving trajectory data for chunk_305 batch 2/3: 1 episodes	[pipeline.py: 238]
+05/15 00:36:37 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 00:36:44 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_305	[pipeline.py: 1174]
+05/15 00:36:44 INFO: [Worker 0] Batching and saving trajectory data for chunk_305 batch 1/3: 1 episodes	[pipeline.py: 238]
+05/15 00:36:44 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 00:36:47 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 00:36:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 00:36:49 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_305	[save_utils.py: 785]
+05/15 00:36:49 INFO: [Worker 0] Successfully saved trajectory data for chunk_305 in 11.81s (batch: 2.63s, save: 9.18s)	[pipeline.py: 300]
+05/15 00:36:49 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.70s:
+  episode_total: mean=78.58s, total=157.15s, count=2, min=2436.6ms, max=154716.1ms
+  sensor_polling: mean=374.1ms, total=112.23s, count=300, min=293.7ms, max=781.5ms
+  save_trajectories: mean=9.18s, total=9.18s, count=1, min=9177.1ms, max=9177.1ms
+  physics_step: mean=22.4ms, total=6.71s, count=300, min=14.0ms, max=38.1ms
+  save_batch_prep: mean=2.63s, total=2.63s, count=1, min=2630.7ms, max=2630.7ms
+  task_sampling: mean=349.2ms, total=698.4ms, count=2, min=324.7ms, max=373.7ms
+  task_specific_sample: mean=345.9ms, total=691.9ms, count=2, min=321.1ms, max=370.8ms
+  scene_randomize: mean=1.8ms, total=3.7ms, count=2, min=1.2ms, max=2.5ms
+  mj_forward_sync: mean=401.0us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 00:36:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:36:51 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:36:51 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:36:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:36:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:36:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:36:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:36:51 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:36:51 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 00:36:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:36:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.066m, effective arm-mount z=0.926m (base_body_z=0.066m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:36:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:36:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:36:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.065743m	[env.py: 870]
+05/15 00:36:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:36:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:36:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:36:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 130.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:36:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 152.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:36:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.08265382 -0.38326397  0.0657425 ] yaw=-138.3deg	[env.py: 1019]
+05/15 00:36:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:36:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -46.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:36:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.11120429 -1.3179062   0.0657425 ] yaw=180.4deg	[env.py: 1019]
+05/15 00:36:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:36:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.31804058 -0.04637529  0.0657425 ] yaw=-158.5deg	[env.py: 1019]
+05/15 00:36:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 00:36:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:36:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=164.4ms, total=164.4ms	[env.py: 1075]
+05/15 00:36:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.083, -0.383, 0.066)	[env.py: 1079]
+05/15 00:36:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -138.3 deg	[env.py: 1082]
+05/15 00:36:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.082m	[env.py: 1086]
+05/15 00:36:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:36:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:36:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:36:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:36:51 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:36:51 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:36:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:36:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:36:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:36:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:36:53 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.974s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:36:53 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.665[m] 64.795[deg]	[grasp_sample.py: 539]
+05/15 00:36:53 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:36:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:36:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:36:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 00:36:55 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_305	[save_utils.py: 785]
+05/15 00:36:55 INFO: [Worker 0] Successfully saved trajectory data for chunk_305 in 11.92s (batch: 2.67s, save: 9.25s)	[pipeline.py: 300]
+05/15 00:36:56 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.47s:
+  episode_total: mean=160.53s, total=160.53s, count=1, min=160526.8ms, max=160526.8ms
+  sensor_polling: mean=401.0ms, total=120.30s, count=300, min=286.6ms, max=686.7ms
+  save_trajectories: mean=9.25s, total=9.25s, count=1, min=9246.8ms, max=9246.8ms
+  physics_step: mean=21.9ms, total=6.58s, count=300, min=13.4ms, max=28.7ms
+  save_batch_prep: mean=2.67s, total=2.67s, count=1, min=2670.6ms, max=2670.6ms
+  task_sampling: mean=472.7ms, total=472.7ms, count=1, min=472.7ms, max=472.7ms
+  task_specific_sample: mean=469.2ms, total=469.2ms, count=1, min=469.2ms, max=469.2ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=393.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=19.4us, 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]
+05/15 00:36:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:36:58 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:36:58 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:36:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:36:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:36:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:36:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:36:58 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:36:58 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 00:36:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:36:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.008m, effective arm-mount z=0.852m (base_body_z=-0.008m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:36:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:36:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:36:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.008434m	[env.py: 870]
+05/15 00:36:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:36:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:36:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:36:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 147.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:36:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -72.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:36:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 106.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:36:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -70.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:36:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 85.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:36:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.07015574 -0.5783479  -0.00843425] yaw=-190.1deg	[env.py: 1019]
+05/15 00:36:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:36:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.03631863 -1.05403229 -0.00843425] yaw=172.9deg	[env.py: 1019]
+05/15 00:36:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:36:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.21286782 -0.9153065  -0.00843425] yaw=200.1deg	[env.py: 1019]
+05/15 00:36:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 00:36:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:36:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=436.2ms, total=436.3ms	[env.py: 1075]
+05/15 00:36:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.070, -0.578, -0.008)	[env.py: 1079]
+05/15 00:36:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -190.1 deg	[env.py: 1082]
+05/15 00:36:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.032m	[env.py: 1086]
+05/15 00:36:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:36:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:36:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:36:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:36:58 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:36:58 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:36:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:36:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:36:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:36:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:37:03 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_305	[pipeline.py: 1174]
+05/15 00:37:03 INFO: [Worker 0] Batching and saving trajectory data for chunk_305 batch 3/3: 1 episodes	[pipeline.py: 238]
+05/15 00:37:03 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 00:37:04 INFO: [Worker 0] Feasibility-checked 88 grasps in 5.321s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:37:04 INFO: [Worker 0] Feasible grasp found 70 (originally 70): w/ 0.686[m] 72.978[deg]	[grasp_sample.py: 539]
+05/15 00:37:04 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:37:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:37:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:37:05 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 00:37:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 00:37:17 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_305	[save_utils.py: 785]
+05/15 00:37:17 INFO: [Worker 0] Successfully saved trajectory data for chunk_305 in 13.86s (batch: 3.14s, save: 10.72s)	[pipeline.py: 300]
+05/15 00:37:18 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=1.09s:
+  episode_total: mean=87.16s, total=174.33s, count=2, min=5656.2ms, max=168670.0ms
+  sensor_polling: mean=415.5ms, total=124.66s, count=300, min=295.9ms, max=784.0ms
+  save_trajectories: mean=10.72s, total=10.72s, count=1, min=10720.9ms, max=10720.9ms
+  physics_step: mean=22.6ms, total=6.79s, count=300, min=17.5ms, max=29.8ms
+  save_batch_prep: mean=3.14s, total=3.14s, count=1, min=3143.0ms, max=3143.0ms
+  task_sampling: mean=543.7ms, total=1.09s, count=2, min=381.6ms, max=705.9ms
+  task_specific_sample: mean=537.4ms, total=1.07s, count=2, min=374.8ms, max=700.1ms
+  scene_randomize: mean=3.0ms, total=6.0ms, count=2, min=2.6ms, max=3.4ms
+  mj_forward_sync: mean=522.8us, total=1.0ms, count=2, min=0.4ms, max=0.6ms
+  policy_setup: mean=50.4us, total=0.1ms, count=2, min=0.0ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 00:37:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:37:19 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:37:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:37:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:37:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:37:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:37:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:37:19 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:37:19 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 00:37:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:37:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.006m, effective arm-mount z=0.866m (base_body_z=0.006m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:37:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:37:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:37:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.006192m	[env.py: 870]
+05/15 00:37:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:37:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:37:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18673 free points within sampling radius	[env.py: 907]
+05/15 00:37:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.0197045 -0.8948122  0.0061916] yaw=159.1deg	[env.py: 1019]
+05/15 00:37:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:37:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 140.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:37:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 91.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:37:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 59.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:37:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 93.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:37:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.25776411 -0.28628505  0.0061916 ] yaw=-162.6deg	[env.py: 1019]
+05/15 00:37:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:37:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:37:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=513.4ms, total=513.4ms	[env.py: 1075]
+05/15 00:37:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.020, -0.895, 0.006)	[env.py: 1079]
+05/15 00:37:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 159.1 deg	[env.py: 1082]
+05/15 00:37:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.058m	[env.py: 1086]
+05/15 00:37:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:37:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:37:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:37:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:37:20 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:37:20 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:37:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.114s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:37:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:37:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:37:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:37:21 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.865s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:37:21 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.646[m] 90.207[deg]	[grasp_sample.py: 539]
+05/15 00:37:21 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:37:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:37:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:37:22 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 00:37:42 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:37:50 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:37:54 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:37:58 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:38:04 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 00:38:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:38:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:38:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 86 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:38:07 INFO: [Worker 0] Feasibility-checked 86 grasps in 2.186s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:38:07 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.064[m] 14.267[deg]	[grasp_sample.py: 539]
+05/15 00:38:07 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:38:07 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:38:07 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:38:13 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:38:18 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:38:22 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:38:26 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:38:26 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:38:30 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:38:54 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 00:39:13 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_305	[pipeline.py: 1174]
+05/15 00:39:13 INFO: [Worker 0] Batching and saving trajectory data for chunk_305 batch 2/3: 1 episodes	[pipeline.py: 238]
+05/15 00:39:13 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 00:39:22 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 00:39:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 00:39:27 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_305	[save_utils.py: 785]
+05/15 00:39:27 INFO: [Worker 0] Successfully saved trajectory data for chunk_305 in 13.59s (batch: 4.92s, save: 8.67s)	[pipeline.py: 300]
+05/15 00:39:28 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.38s:
+  episode_total: mean=157.11s, total=157.11s, count=1, min=157113.4ms, max=157113.4ms
+  sensor_polling: mean=372.0ms, total=111.59s, count=300, min=291.7ms, max=695.5ms
+  save_trajectories: mean=8.67s, total=8.67s, count=1, min=8669.2ms, max=8669.2ms
+  physics_step: mean=21.6ms, total=6.47s, count=300, min=15.9ms, max=82.3ms
+  save_batch_prep: mean=4.92s, total=4.92s, count=1, min=4920.4ms, max=4920.4ms
+  task_sampling: mean=384.1ms, total=384.1ms, count=1, min=384.1ms, max=384.1ms
+  task_specific_sample: mean=380.7ms, total=380.7ms, count=1, min=380.7ms, max=380.7ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=346.3us, total=0.3ms, count=1, min=0.3ms, max=0.3ms
+  policy_setup: mean=17.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 00:39:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:39:30 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:39:30 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:39:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:39:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:39:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:39:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:39:30 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:39:30 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 00:39:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:39:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.097m, effective arm-mount z=0.957m (base_body_z=0.097m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:39:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:39:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:39:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.096998m	[env.py: 870]
+05/15 00:39:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:39:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:39:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:39:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 60.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:39:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 77.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:39:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 143.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:39:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 155.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:39:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 59.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:39:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.57376861 -0.13906837  0.09699778] yaw=-98.6deg	[env.py: 1019]
+05/15 00:39:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:39:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.10352992 -1.31551714  0.09699778] yaw=153.2deg	[env.py: 1019]
+05/15 00:39:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:39:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.12011777 -1.08926662  0.09699778] yaw=151.8deg	[env.py: 1019]
+05/15 00:39:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 00:39:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:39:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=166.8ms, total=166.8ms	[env.py: 1075]
+05/15 00:39:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.574, -0.139, 0.097)	[env.py: 1079]
+05/15 00:39:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -98.6 deg	[env.py: 1082]
+05/15 00:39:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.842m	[env.py: 1086]
+05/15 00:39:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:39:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:39:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:39:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:39:30 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:39:30 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:39:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.172s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:39:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:39:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:39:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:39:31 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.776s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:39:31 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.605[m] 85.803[deg]	[grasp_sample.py: 539]
+05/15 00:39:31 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:39:32 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:39:32 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:39:33 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 00:39:39 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_305	[pipeline.py: 1174]
+05/15 00:39:39 INFO: [Worker 0] Batching and saving trajectory data for chunk_305 batch 1/3: 1 episodes	[pipeline.py: 238]
+05/15 00:39:39 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 00:39:49 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_305	[pipeline.py: 1174]
+05/15 00:39:49 INFO: [Worker 0] Batching and saving trajectory data for chunk_305 batch 3/3: 1 episodes	[pipeline.py: 238]
+05/15 00:39:49 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 00:39:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 00:39:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_305	[save_utils.py: 785]
+05/15 00:39:51 INFO: [Worker 0] Successfully saved trajectory data for chunk_305 in 11.93s (batch: 2.89s, save: 9.03s)	[pipeline.py: 300]
+05/15 00:39:52 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.66s:
+  episode_total: mean=173.94s, total=173.94s, count=1, min=173942.1ms, max=173942.1ms
+  sensor_polling: mean=414.1ms, total=124.22s, count=300, min=298.8ms, max=750.6ms
+  save_trajectories: mean=9.03s, total=9.03s, count=1, min=9033.6ms, max=9033.6ms
+  physics_step: mean=22.5ms, total=6.75s, count=300, min=14.1ms, max=53.5ms
+  save_batch_prep: mean=2.89s, total=2.89s, count=1, min=2894.6ms, max=2894.6ms
+  task_sampling: mean=664.0ms, total=664.0ms, count=1, min=664.0ms, max=664.0ms
+  task_specific_sample: mean=659.5ms, total=659.5ms, count=1, min=659.5ms, max=659.5ms
+  scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
+  mj_forward_sync: mean=594.3us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=19.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 00:39:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:39:53 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:39:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:39:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:39:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:39:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:39:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:39:53 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:39:53 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 00:39:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:39:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.086m, effective arm-mount z=0.946m (base_body_z=0.086m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.086043m	[env.py: 870]
+05/15 00:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:39:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 94.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 140.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.24252915 -0.39821213  0.0860427 ] yaw=-155.2deg	[env.py: 1019]
+05/15 00:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.07269193 -1.35148702  0.0860427 ] yaw=146.4deg	[env.py: 1019]
+05/15 00:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.14070497 -0.77740763  0.0860427 ] yaw=-200.1deg	[env.py: 1019]
+05/15 00:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 00:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:39:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=197.4ms, total=197.4ms	[env.py: 1075]
+05/15 00:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.243, -0.398, 0.086)	[env.py: 1079]
+05/15 00:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -155.2 deg	[env.py: 1082]
+05/15 00:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.931m	[env.py: 1086]
+05/15 00:39:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:39:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:39:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:39:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:39:53 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:39:53 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:39:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:39:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:39:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:39:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:39:54 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.680s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:39:54 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.573[m] 104.406[deg]	[grasp_sample.py: 539]
+05/15 00:39:54 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:39:55 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:39:55 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:39:55 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 00:40:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 00:40:00 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_305	[save_utils.py: 785]
+05/15 00:40:00 INFO: [Worker 0] Successfully saved trajectory data for chunk_305 in 11.22s (batch: 2.70s, save: 8.52s)	[pipeline.py: 300]
+05/15 00:40:01 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.75s:
+  episode_total: mean=161.28s, total=161.28s, count=1, min=161277.8ms, max=161277.8ms
+  sensor_polling: mean=408.5ms, total=122.54s, count=300, min=289.1ms, max=763.4ms
+  save_trajectories: mean=8.52s, total=8.52s, count=1, min=8519.6ms, max=8519.6ms
+  physics_step: mean=23.2ms, total=6.96s, count=300, min=13.3ms, max=36.4ms
+  save_batch_prep: mean=2.70s, total=2.70s, count=1, min=2700.9ms, max=2700.9ms
+  task_sampling: mean=745.9ms, total=745.9ms, count=1, min=745.9ms, max=745.9ms
+  task_specific_sample: mean=742.2ms, total=742.2ms, count=1, min=742.2ms, max=742.2ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=430.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=21.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 00:40:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:40:02 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:40:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:40:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:40:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:40:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:40:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:40:02 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:40:02 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 00:40:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:40:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.063m, effective arm-mount z=0.923m (base_body_z=0.063m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.063424m	[env.py: 870]
+05/15 00:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:40:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18673 free points within sampling radius	[env.py: 907]
+05/15 00:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.09985064 -0.21118797  0.06342388] yaw=-174.1deg	[env.py: 1019]
+05/15 00:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -57.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.1317397  -0.71469378  0.06342388] yaw=-162.6deg	[env.py: 1019]
+05/15 00:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -52.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 104.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.46807647 -0.26382069  0.06342388] yaw=-158.4deg	[env.py: 1019]
+05/15 00:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 00:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:40:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=275.8ms, total=275.9ms	[env.py: 1075]
+05/15 00:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.100, -0.211, 0.063)	[env.py: 1079]
+05/15 00:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -174.1 deg	[env.py: 1082]
+05/15 00:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.147m	[env.py: 1086]
+05/15 00:40:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:40:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:40:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:40:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:40:03 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:40:03 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:40:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.125s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:40:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:40:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:40:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:40:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.478s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 00:40:05 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 00:40:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:40:08 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:40:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:40:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:40:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:40:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:40:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:40:08 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:40:08 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 00:40:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:40:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.077m, effective arm-mount z=0.783m (base_body_z=-0.077m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.077152m	[env.py: 870]
+05/15 00:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:40:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18673 free points within sampling radius	[env.py: 907]
+05/15 00:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.06888329 -0.95694574 -0.07715198] yaw=151.9deg	[env.py: 1019]
+05/15 00:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -160.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.47804742 -0.06777446 -0.07715198] yaw=-154.2deg	[env.py: 1019]
+05/15 00:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 68.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 105.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.07874025 -1.01204241 -0.07715198] yaw=192.7deg	[env.py: 1019]
+05/15 00:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 00:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:40:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=113.0ms, total=113.1ms	[env.py: 1075]
+05/15 00:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.069, -0.957, -0.077)	[env.py: 1079]
+05/15 00:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 151.9 deg	[env.py: 1082]
+05/15 00:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.152m	[env.py: 1086]
+05/15 00:40:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:40:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:40:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:40:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:40:08 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:40:08 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:40:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:40:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:40:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:40:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:40:11 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.091s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 00:40:11 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 00:40:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:40:12 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:40:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:40:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:40:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:40:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:40:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:40:12 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:40:12 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 00:40:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:40:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.077m, effective arm-mount z=0.937m (base_body_z=0.077m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:40:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:40:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:40:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.076966m	[env.py: 870]
+05/15 00:40:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:40:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:40:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18673 free points within sampling radius	[env.py: 907]
+05/15 00:40:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 120.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:40:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 121.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:40:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.39829738  0.12056448  0.07696551] yaw=-117.4deg	[env.py: 1019]
+05/15 00:40:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:40:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.11891217 -0.85526543  0.07696551] yaw=187.6deg	[env.py: 1019]
+05/15 00:40:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:40:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.5461564  -0.18198089  0.07696551] yaw=-115.5deg	[env.py: 1019]
+05/15 00:40:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 00:40:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:40:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=164.6ms, total=164.6ms	[env.py: 1075]
+05/15 00:40:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.398, 0.121, 0.077)	[env.py: 1079]
+05/15 00:40:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -117.4 deg	[env.py: 1082]
+05/15 00:40:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.155m	[env.py: 1086]
+05/15 00:40:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:40:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:40:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:40:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:40:13 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:40:13 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:40:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:40:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:40:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:40:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:40:15 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:40:15 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.071s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 00:40:15 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 00:40:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:40:16 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:40:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:40:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:40:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:40:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:40:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:40:16 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:40:16 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 00:40:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:40:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.069m, effective arm-mount z=0.929m (base_body_z=0.069m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:40:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:40:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:40:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.068667m	[env.py: 870]
+05/15 00:40:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:40:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:40:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18673 free points within sampling radius	[env.py: 907]
+05/15 00:40:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -72.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:40:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.05889806 -1.06202509  0.068667  ] yaw=175.8deg	[env.py: 1019]
+05/15 00:40:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:40:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -74.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:40:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.0718065  -0.83004544  0.068667  ] yaw=193.8deg	[env.py: 1019]
+05/15 00:40:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:40:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.0845897  -0.53202016  0.068667  ] yaw=-182.4deg	[env.py: 1019]
+05/15 00:40:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 00:40:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:40:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=174.7ms, total=174.7ms	[env.py: 1075]
+05/15 00:40:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.059, -1.062, 0.069)	[env.py: 1079]
+05/15 00:40:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 175.8 deg	[env.py: 1082]
+05/15 00:40:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.160m	[env.py: 1086]
+05/15 00:40:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:40:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:40:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:40:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:40:17 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:40:17 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:40:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.096s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:40:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:40:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:40:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:40:19 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.127s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 00:40:19 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 00:40:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:40:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:40:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:40:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:40:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:40:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:40:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:40:20 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:40:20 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 00:40:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:40:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.085m, effective arm-mount z=0.945m (base_body_z=0.085m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:40:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:40:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:40:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.084778m	[env.py: 870]
+05/15 00:40:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:40:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:40:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18673 free points within sampling radius	[env.py: 907]
+05/15 00:40:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -56.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:40:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 60.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:40:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 172.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:40:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.25781635 -0.7246919   0.08477769] yaw=-176.1deg	[env.py: 1019]
+05/15 00:40:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:40:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.10171259 -0.97920622  0.08477769] yaw=191.6deg	[env.py: 1019]
+05/15 00:40:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:40:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:40:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=251.2ms, total=251.2ms	[env.py: 1075]
+05/15 00:40:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.258, -0.725, 0.085)	[env.py: 1079]
+05/15 00:40:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -176.1 deg	[env.py: 1082]
+05/15 00:40:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.822m	[env.py: 1086]
+05/15 00:40:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:40:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:40:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:40:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:40:21 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:40:21 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:40:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.063s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:40:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:40:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:40:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:40:22 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:40:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.581s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:40:22 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.292[m] 73.730[deg]	[grasp_sample.py: 539]
+05/15 00:40:22 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:40:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:40:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:40:23 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 00:40:25 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:40:42 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:40:45 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:40:51 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:40:52 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:40:55 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:40:55 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:41:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:41:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:41:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:41:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:41:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:41:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:41:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:41:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:41:18 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 00:41:18 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 00:41:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:41:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:41:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.064s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:41:20 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.361s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:41:20 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.872[deg]	[grasp_sample.py: 539]
+05/15 00:41:21 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/15 00:41:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:41:24 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:41:24 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:41:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:41:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:41:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:41:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:41:24 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:41:24 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 00:41:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:41:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.001m, effective arm-mount z=0.859m (base_body_z=-0.001m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:41:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:41:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:41:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.000595m	[env.py: 870]
+05/15 00:41:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:41:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:41:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:41:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 67.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:41:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.80121807e-01 -1.13172955e+00 -5.95029016e-04] yaw=165.2deg	[env.py: 1019]
+05/15 00:41:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:41:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 149.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:41:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 178.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:41:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.34855708 -0.35783521 -0.00059503] yaw=-125.9deg	[env.py: 1019]
+05/15 00:41:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:41:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:41:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=155.7ms, total=155.7ms	[env.py: 1075]
+05/15 00:41:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.180, -1.132, -0.001)	[env.py: 1079]
+05/15 00:41:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 165.2 deg	[env.py: 1082]
+05/15 00:41:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.948m	[env.py: 1086]
+05/15 00:41:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:41:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:41:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:41:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:41:24 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:41:24 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:41:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:41:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:41:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:41:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:41:25 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.870s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:41:25 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.611[m] 95.487[deg]	[grasp_sample.py: 539]
+05/15 00:41:25 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:41:25 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:41:25 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:41:26 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 00:41:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:41:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:41:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:41:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:41:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:41:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:41:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:41:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:41:49 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 00:41:49 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 00:41:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:41:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:41:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.061s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:41:49 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.444s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:41:49 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.104[m] 0.603[deg]	[grasp_sample.py: 539]
+05/15 00:41:49 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:41:50 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:41:50 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:41:59 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 00:41:59 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:42:07 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:42:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:42:11 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:42:15 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:42:15 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_305	[pipeline.py: 1174]
+05/15 00:42:15 INFO: [Worker 0] Batching and saving trajectory data for chunk_305 batch 1/3: 1 episodes	[pipeline.py: 238]
+05/15 00:42:15 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 00:42:18 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:42:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 00:42:27 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_305	[save_utils.py: 785]
+05/15 00:42:27 INFO: [Worker 0] Successfully saved trajectory data for chunk_305 in 11.54s (batch: 2.68s, save: 8.86s)	[pipeline.py: 300]
+05/15 00:42:27 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.39s:
+  episode_total: mean=154.08s, total=154.08s, count=1, min=154078.7ms, max=154078.7ms
+  sensor_polling: mean=384.1ms, total=115.22s, count=300, min=292.2ms, max=655.9ms
+  save_trajectories: mean=8.86s, total=8.86s, count=1, min=8856.9ms, max=8856.9ms
+  physics_step: mean=22.7ms, total=6.82s, count=300, min=13.6ms, max=29.2ms
+  save_batch_prep: mean=2.68s, total=2.68s, count=1, min=2683.8ms, max=2683.8ms
+  task_sampling: mean=393.4ms, total=393.4ms, count=1, min=393.4ms, max=393.4ms
+  task_specific_sample: mean=389.4ms, total=389.4ms, count=1, min=389.4ms, max=389.4ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=397.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=24.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 00:42:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:42:28 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:42:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:42:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:42:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:42:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:42:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:42:28 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:42:28 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 00:42:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:42:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.088m, effective arm-mount z=0.948m (base_body_z=0.088m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.088414m	[env.py: 870]
+05/15 00:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:42:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.54409413 -0.15537171  0.08841359] yaw=-104.5deg	[env.py: 1019]
+05/15 00:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:42:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.03939525 -0.88571254  0.08841359] yaw=194.3deg	[env.py: 1019]
+05/15 00:42:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:42:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -74.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:42:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 122.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:42:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 161.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:42:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.22914948 -0.94819785  0.08841359] yaw=155.1deg	[env.py: 1019]
+05/15 00:42:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 00:42:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:42:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=317.8ms, total=317.9ms	[env.py: 1075]
+05/15 00:42:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.544, -0.155, 0.088)	[env.py: 1079]
+05/15 00:42:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -104.5 deg	[env.py: 1082]
+05/15 00:42:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.847m	[env.py: 1086]
+05/15 00:42:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:42:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:42:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:42:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:42:29 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:42:29 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:42:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.103s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:42:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:42:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:42:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:42:30 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.474s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:42:30 INFO: [Worker 0] Feasible grasp found 124 (originally 9): w/ 0.528[m] 110.230[deg]	[grasp_sample.py: 539]
+05/15 00:42:30 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:42:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:42:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:42:30 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 00:42:42 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 00:43:02 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_305	[pipeline.py: 1174]
+05/15 00:43:02 INFO: [Worker 0] Batching and saving trajectory data for chunk_305 batch 3/3: 1 episodes	[pipeline.py: 238]
+05/15 00:43:02 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 00:43:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:43:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:43:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:43:10 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:43:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:43:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:43:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:43:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:43:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:43:15 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 00:43:15 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 00:43:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:43:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:43:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.061s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:43:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 00:43:16 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_305	[save_utils.py: 785]
+05/15 00:43:16 INFO: [Worker 0] Successfully saved trajectory data for chunk_305 in 13.91s (batch: 3.13s, save: 10.78s)	[pipeline.py: 300]
+05/15 00:43:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:43:16 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.575s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:43:16 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.033[m] 0.679[deg]	[grasp_sample.py: 539]
+05/15 00:43:16 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=2.14s:
+  episode_total: mean=37.40s, total=187.00s, count=5, min=2577.6ms, max=175908.9ms
+  sensor_polling: mean=405.6ms, total=121.67s, count=300, min=290.1ms, max=703.2ms
+  save_trajectories: mean=10.78s, total=10.78s, count=1, min=10783.2ms, max=10783.2ms
+  physics_step: mean=22.2ms, total=6.65s, count=300, min=17.3ms, max=29.2ms
+  save_batch_prep: mean=3.13s, total=3.13s, count=1, min=3128.2ms, max=3128.2ms
+  task_sampling: mean=428.5ms, total=2.14s, count=5, min=336.6ms, max=508.4ms
+  task_specific_sample: mean=421.4ms, total=2.11s, count=5, min=319.5ms, max=504.9ms
+  scene_randomize: mean=2.0ms, total=10.0ms, count=5, min=1.6ms, max=2.3ms
+  mj_forward_sync: mean=388.9us, total=1.9ms, count=5, min=0.3ms, max=0.5ms
+  policy_setup: mean=23.8us, total=0.1ms, count=5, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 00:43:17 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:43:17 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:43:17 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:43:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:43:18 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:43:18 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:43:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:43:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:43:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:43:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:43:18 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:43:18 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 00:43:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:43:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.016m, effective arm-mount z=0.844m (base_body_z=-0.016m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:43:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:43:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:43:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.015639m	[env.py: 870]
+05/15 00:43:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:43:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:43:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18673 free points within sampling radius	[env.py: 907]
+05/15 00:43:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -148.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:43:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.21021516 -0.35307847 -0.01563883] yaw=-127.6deg	[env.py: 1019]
+05/15 00:43:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:43:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.31826498 -0.45734254 -0.01563883] yaw=-130.3deg	[env.py: 1019]
+05/15 00:43:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:43:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.27612271 -0.5115192  -0.01563883] yaw=-164.8deg	[env.py: 1019]
+05/15 00:43:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 00:43:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:43:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=236.3ms, total=236.3ms	[env.py: 1075]
+05/15 00:43:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.210, -0.353, -0.016)	[env.py: 1079]
+05/15 00:43:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -127.6 deg	[env.py: 1082]
+05/15 00:43:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.980m	[env.py: 1086]
+05/15 00:43:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:43:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:43:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:43:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:43:18 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:43:18 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:43:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.182s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:43:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:43:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:43:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:43:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:43:19 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.815s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:43:19 INFO: [Worker 0] Feasible grasp found 171 (originally 56): w/ 0.757[m] 130.237[deg]	[grasp_sample.py: 539]
+05/15 00:43:19 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:43:19 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:43:20 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:43:20 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:43:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:43:20 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 00:43:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:43:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:43:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:43:24 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 00:43:41 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_305	[pipeline.py: 1174]
+05/15 00:43:41 INFO: [Worker 0] Batching and saving trajectory data for chunk_305 batch 2/3: 1 episodes	[pipeline.py: 238]
+05/15 00:43:41 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 00:43:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 00:43:54 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_305	[save_utils.py: 785]
+05/15 00:43:54 INFO: [Worker 0] Successfully saved trajectory data for chunk_305 in 13.29s (batch: 4.39s, save: 8.90s)	[pipeline.py: 300]
+05/15 00:43:55 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.79s:
+  episode_total: mean=131.35s, total=262.69s, count=2, min=111296.1ms, max=151397.2ms
+  sensor_polling: mean=324.1ms, total=187.97s, count=580, min=290.7ms, max=671.0ms
+  physics_step: mean=19.9ms, total=11.53s, count=580, min=12.9ms, max=67.0ms
+  save_trajectories: mean=8.90s, total=8.90s, count=1, min=8902.9ms, max=8902.9ms
+  save_batch_prep: mean=4.39s, total=4.39s, count=1, min=4389.7ms, max=4389.7ms
+  task_sampling: mean=393.9ms, total=787.8ms, count=2, min=364.5ms, max=423.4ms
+  task_specific_sample: mean=386.4ms, total=772.8ms, count=2, min=360.0ms, max=412.8ms
+  scene_randomize: mean=5.4ms, total=10.8ms, count=2, min=2.0ms, max=8.9ms
+  mj_forward_sync: mean=469.2us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=39.0us, total=0.1ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 00:43:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:43:57 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:43:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:43:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:43:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:43:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:43:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:43:57 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:43:57 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 00:43:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:43:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.037m, effective arm-mount z=0.897m (base_body_z=0.037m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:43:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:43:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:43:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.036784m	[env.py: 870]
+05/15 00:43:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:43:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:43:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:43:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 146.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:43:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 96.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:43:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.16176148 -0.54984054  0.03678432] yaw=-141.1deg	[env.py: 1019]
+05/15 00:43:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:43:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 103.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:43:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -52.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:43:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.27058168  0.03823625  0.03678432] yaw=-111.1deg	[env.py: 1019]
+05/15 00:43:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:43:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:43:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=281.0ms, total=281.0ms	[env.py: 1075]
+05/15 00:43:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.162, -0.550, 0.037)	[env.py: 1079]
+05/15 00:43:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -141.1 deg	[env.py: 1082]
+05/15 00:43:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.951m	[env.py: 1086]
+05/15 00:43:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:43:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:43:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:43:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:43:58 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:43:58 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:43:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.096s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:43:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:43:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:43:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:44:00 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.056s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:44:00 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.691[m] 61.290[deg]	[grasp_sample.py: 539]
+05/15 00:44:00 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:44:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:44:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:44:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:44:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:44:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:44:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:44:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:44:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:44:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:44:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:44:30 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 00:44:30 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 00:44:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:44:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:44:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 84 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:44:32 INFO: [Worker 0] Feasibility-checked 84 grasps in 1.859s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:44:32 INFO: [Worker 0] Feasible grasp found 117 (originally 2): w/ 0.024[m] 5.850[deg]	[grasp_sample.py: 539]
+05/15 00:44:32 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:44:32 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:44:32 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:44:33 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:44:36 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:44:42 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:44:45 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:44:46 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 00:44:46 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:44:47 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:44:54 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:44:58 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:45:03 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_305	[pipeline.py: 1174]
+05/15 00:45:03 INFO: [Worker 0] Batching and saving trajectory data for chunk_305 batch 1/3: 1 episodes	[pipeline.py: 238]
+05/15 00:45:03 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 00:45:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 00:45:14 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_305	[save_utils.py: 785]
+05/15 00:45:14 INFO: [Worker 0] Successfully saved trajectory data for chunk_305 in 11.25s (batch: 2.65s, save: 8.60s)	[pipeline.py: 300]
+05/15 00:45:15 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.54s:
+  episode_total: mean=166.52s, total=166.52s, count=1, min=166524.0ms, max=166524.0ms
+  sensor_polling: mean=388.1ms, total=116.43s, count=300, min=277.7ms, max=710.5ms
+  save_trajectories: mean=8.60s, total=8.60s, count=1, min=8598.8ms, max=8598.8ms
+  physics_step: mean=22.9ms, total=6.86s, count=300, min=17.1ms, max=30.1ms
+  save_batch_prep: mean=2.65s, total=2.65s, count=1, min=2647.5ms, max=2647.5ms
+  task_sampling: mean=544.2ms, total=544.2ms, count=1, min=544.2ms, max=544.2ms
+  task_specific_sample: mean=540.4ms, total=540.4ms, count=1, min=540.4ms, max=540.4ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=340.1us, total=0.3ms, count=1, min=0.3ms, max=0.3ms
+  policy_setup: mean=25.4us, 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]
+05/15 00:45:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:45:16 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:45:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:45:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:45:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:45:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:45:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:45:16 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:45:16 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 00:45:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:45:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.011m, effective arm-mount z=0.871m (base_body_z=0.011m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:45:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:45:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:45:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.011253m	[env.py: 870]
+05/15 00:45:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:45:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:45:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:45:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.34541612 -0.42668112  0.01125305] yaw=-159.1deg	[env.py: 1019]
+05/15 00:45:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:45:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.02056783 -1.2259646   0.01125305] yaw=136.7deg	[env.py: 1019]
+05/15 00:45:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:45:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 88.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:45:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.03453756 -1.1828147   0.01125305] yaw=182.5deg	[env.py: 1019]
+05/15 00:45:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 00:45:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:45:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=254.5ms, total=254.6ms	[env.py: 1075]
+05/15 00:45:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.345, -0.427, 0.011)	[env.py: 1079]
+05/15 00:45:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -159.1 deg	[env.py: 1082]
+05/15 00:45:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.826m	[env.py: 1086]
+05/15 00:45:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:45:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:45:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:45:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:45:17 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:45:17 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:45:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.090s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:45:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:45:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:45:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:45:18 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.639s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:45:18 INFO: [Worker 0] Feasible grasp found 124 (originally 9): w/ 0.515[m] 108.654[deg]	[grasp_sample.py: 539]
+05/15 00:45:18 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:45:18 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:45:18 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:45:18 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 00:45:29 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 00:45:44 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_305	[pipeline.py: 1174]
+05/15 00:45:44 INFO: [Worker 0] Batching and saving trajectory data for chunk_305 batch 3/3: 1 episodes	[pipeline.py: 238]
+05/15 00:45:44 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 00:45:52 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 00:45:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 00:45:57 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_305	[save_utils.py: 785]
+05/15 00:45:57 INFO: [Worker 0] Successfully saved trajectory data for chunk_305 in 13.52s (batch: 3.09s, save: 10.43s)	[pipeline.py: 300]
+05/15 00:45:58 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.51s:
+  episode_total: mean=160.03s, total=160.03s, count=1, min=160034.6ms, max=160034.6ms
+  sensor_polling: mean=397.3ms, total=119.18s, count=300, min=282.1ms, max=747.7ms
+  save_trajectories: mean=10.43s, total=10.43s, count=1, min=10431.9ms, max=10431.9ms
+  physics_step: mean=24.3ms, total=7.29s, count=300, min=17.2ms, max=44.4ms
+  save_batch_prep: mean=3.09s, total=3.09s, count=1, min=3085.9ms, max=3085.9ms
+  task_sampling: mean=510.2ms, total=510.2ms, count=1, min=510.2ms, max=510.2ms
+  task_specific_sample: mean=506.0ms, total=506.0ms, count=1, min=506.0ms, max=506.0ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=633.0us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=23.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 00:45:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:45:59 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:45:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:45:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:45:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:45:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:45:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:45:59 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:45:59 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 00:45:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:45:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.053m, effective arm-mount z=0.807m (base_body_z=-0.053m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:45:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:45:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:45:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.052927m	[env.py: 870]
+05/15 00:45:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:45:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:45:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18673 free points within sampling radius	[env.py: 907]
+05/15 00:45:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -77.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:45:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -53.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:45:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 97.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 72.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.38218194 -0.18165547 -0.05292749] yaw=-156.5deg	[env.py: 1019]
+05/15 00:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.13459343 -1.01372184 -0.05292749] yaw=160.4deg	[env.py: 1019]
+05/15 00:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:46:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=347.7ms, total=347.8ms	[env.py: 1075]
+05/15 00:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.382, -0.182, -0.053)	[env.py: 1079]
+05/15 00:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -156.5 deg	[env.py: 1082]
+05/15 00:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.939m	[env.py: 1086]
+05/15 00:46:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:46:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:46:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:46:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:46:00 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:46:00 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:46:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.097s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:46:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:46:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:46:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:46:01 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.646s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:46:01 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.468[m] 75.239[deg]	[grasp_sample.py: 539]
+05/15 00:46:01 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:46:01 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:46:01 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:46:02 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:46:02 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 00:46:09 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_305	[pipeline.py: 1174]
+05/15 00:46:09 INFO: [Worker 0] Batching and saving trajectory data for chunk_305 batch 2/3: 1 episodes	[pipeline.py: 238]
+05/15 00:46:09 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 00:46:11 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:46:15 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:46:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 00:46:23 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_305	[save_utils.py: 785]
+05/15 00:46:23 INFO: [Worker 0] Successfully saved trajectory data for chunk_305 in 13.46s (batch: 4.43s, save: 9.03s)	[pipeline.py: 300]
+05/15 00:46:23 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.50s:
+  episode_total: mean=146.37s, total=146.37s, count=1, min=146367.3ms, max=146367.3ms
+  sensor_polling: mean=345.0ms, total=103.51s, count=300, min=297.1ms, max=684.5ms
+  save_trajectories: mean=9.03s, total=9.03s, count=1, min=9029.8ms, max=9029.8ms
+  physics_step: mean=21.4ms, total=6.42s, count=300, min=14.0ms, max=32.6ms
+  save_batch_prep: mean=4.43s, total=4.43s, count=1, min=4431.4ms, max=4431.4ms
+  task_sampling: mean=502.8ms, total=502.8ms, count=1, min=502.8ms, max=502.8ms
+  task_specific_sample: mean=498.7ms, total=498.7ms, count=1, min=498.7ms, max=498.7ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=423.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=28.4us, 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]
+05/15 00:46:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:46:26 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:46:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:46:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:46:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:46:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:46:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:46:26 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:46:26 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 00:46:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:46:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.033m, effective arm-mount z=0.893m (base_body_z=0.033m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:46:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:46:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:46:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.032843m	[env.py: 870]
+05/15 00:46:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:46:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:46:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:46:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 142.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:46:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.48319703 -0.16389239  0.03284337] yaw=-119.2deg	[env.py: 1019]
+05/15 00:46:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:46:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -32.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:46:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 91.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:46:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -52.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:46:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:46:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=296.5ms, total=296.5ms	[env.py: 1075]
+05/15 00:46:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.483, -0.164, 0.033)	[env.py: 1079]
+05/15 00:46:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -119.2 deg	[env.py: 1082]
+05/15 00:46:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.880m	[env.py: 1086]
+05/15 00:46:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:46:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:46:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:46:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:46:26 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:46:26 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:46:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.095s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:46:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:46:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:46:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:46:27 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.187s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:46:27 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.508[m] 97.343[deg]	[grasp_sample.py: 539]
+05/15 00:46:27 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:46:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:46:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:46:43 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:46:52 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:46:56 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:47:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:47:14 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:47:17 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:47:29 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 00:47:46 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_305	[pipeline.py: 1174]
+05/15 00:47:46 INFO: [Worker 0] Batching and saving trajectory data for chunk_305 batch 1/3: 1 episodes	[pipeline.py: 238]
+05/15 00:47:46 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 00:47:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:47:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:47:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:47:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:47:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:47:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:47:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:47:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:47:57 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 00:47:57 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 00:47:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:47:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:47:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.063s, found 74 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:47:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 00:47:59 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_305	[save_utils.py: 785]
+05/15 00:47:59 INFO: [Worker 0] Successfully saved trajectory data for chunk_305 in 12.15s (batch: 2.81s, save: 9.34s)	[pipeline.py: 300]
+05/15 00:47:59 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.56s:
+  episode_total: mean=162.80s, total=162.80s, count=1, min=162802.7ms, max=162802.7ms
+  sensor_polling: mean=406.6ms, total=121.98s, count=300, min=275.3ms, max=828.6ms
+  save_trajectories: mean=9.34s, total=9.34s, count=1, min=9338.5ms, max=9338.5ms
+  physics_step: mean=23.8ms, total=7.14s, count=300, min=17.1ms, max=63.9ms
+  save_batch_prep: mean=2.81s, total=2.81s, count=1, min=2808.2ms, max=2808.2ms
+  task_sampling: mean=556.0ms, total=556.0ms, count=1, min=556.0ms, max=556.0ms
+  task_specific_sample: mean=552.2ms, total=552.2ms, count=1, min=552.2ms, max=552.2ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=367.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=19.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 00:48:00 INFO: [Worker 0] Feasibility-checked 74 grasps in 2.951s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:48:00 INFO: [Worker 0] Feasible grasp found 208 (originally 93): w/ 0.057[m] 11.616[deg]	[grasp_sample.py: 539]
+05/15 00:48:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:48:00 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:48:00 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:48:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:48:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:48:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:48:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:48:00 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:48:00 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 00:48:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:48:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.031m, effective arm-mount z=0.891m (base_body_z=0.031m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:48:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:48:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:48:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.030756m	[env.py: 870]
+05/15 00:48:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:48:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:48:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:48:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 153.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:48:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.39865096 -0.2904204   0.03075575] yaw=-130.4deg	[env.py: 1019]
+05/15 00:48:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:48:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.27536134 -1.10200077  0.03075575] yaw=161.4deg	[env.py: 1019]
+05/15 00:48:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:48:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 137.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:48:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.19386179 -0.45589495  0.03075575] yaw=-162.1deg	[env.py: 1019]
+05/15 00:48:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 00:48:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:48:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=536.5ms, total=536.6ms	[env.py: 1075]
+05/15 00:48:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.399, -0.290, 0.031)	[env.py: 1079]
+05/15 00:48:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -130.4 deg	[env.py: 1082]
+05/15 00:48:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.856m	[env.py: 1086]
+05/15 00:48:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:48:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:48:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:48:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:48:01 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/15 00:48:01 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:48:01 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:48:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.090s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:48:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:48:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:48:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:48:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:48:02 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:48:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:48:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:48:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:48:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:48:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:48:02 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:48:02 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 00:48:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:48:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.031m, effective arm-mount z=0.891m (base_body_z=0.031m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:48:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:48:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:48:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.031363m	[env.py: 870]
+05/15 00:48:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:48:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:48:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18673 free points within sampling radius	[env.py: 907]
+05/15 00:48:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 106.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:48:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.20817431 -0.51170988  0.03136277] yaw=-132.8deg	[env.py: 1019]
+05/15 00:48:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:48:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -170.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:48:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.3572453  -0.46060539  0.03136277] yaw=-154.2deg	[env.py: 1019]
+05/15 00:48:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:48:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 122.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:48:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.37295773 -0.28953705  0.03136277] yaw=-119.4deg	[env.py: 1019]
+05/15 00:48:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 00:48:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:48:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=169.9ms, total=169.9ms	[env.py: 1075]
+05/15 00:48:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.208, -0.512, 0.031)	[env.py: 1079]
+05/15 00:48:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -132.8 deg	[env.py: 1082]
+05/15 00:48:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.918m	[env.py: 1086]
+05/15 00:48:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:48:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:48:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:48:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:48:03 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:48:03 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:48:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:48:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:48:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:48:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:48:04 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.911s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:48:04 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.710[m] 130.347[deg]	[grasp_sample.py: 539]
+05/15 00:48:04 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:48:04 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.765s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:48:04 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.453[m] 79.762[deg]	[grasp_sample.py: 539]
+05/15 00:48:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:48:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:48:04 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 00:48:05 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:48:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:48:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:48:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:48:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:48:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:48:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:48:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:48:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:48:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:48:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:48:14 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 00:48:14 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 00:48:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:48:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:48:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.062s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:48:17 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.337s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:48:17 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.707[deg]	[grasp_sample.py: 539]
+05/15 00:48:18 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/15 00:48:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:48:19 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:48:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:48:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:48:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:48:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:48:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:48:19 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:48:19 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 00:48:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:48:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.027m, effective arm-mount z=0.833m (base_body_z=-0.027m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.026783m	[env.py: 870]
+05/15 00:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:48:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 178.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.11431653 -0.87416872 -0.0267832 ] yaw=167.1deg	[env.py: 1019]
+05/15 00:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:48:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.22543452 -0.74147217 -0.0267832 ] yaw=-154.9deg	[env.py: 1019]
+05/15 00:48:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:48:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 123.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:48:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.0145659  -1.30895679 -0.0267832 ] yaw=156.0deg	[env.py: 1019]
+05/15 00:48:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 00:48:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:48:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=146.0ms, total=146.0ms	[env.py: 1075]
+05/15 00:48:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.114, -0.874, -0.027)	[env.py: 1079]
+05/15 00:48:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 167.1 deg	[env.py: 1082]
+05/15 00:48:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.962m	[env.py: 1086]
+05/15 00:48:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:48:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:48:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:48:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:48:20 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:48:20 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:48:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:48:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:48:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:48:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:48:20 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.571s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:48:20 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.462[m] 76.221[deg]	[grasp_sample.py: 539]
+05/15 00:48:20 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:48:21 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:48:21 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:48:21 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 00:48:45 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:48:50 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:48:54 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:48:56 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:48:58 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:48:59 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:49:16 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:49:25 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:49:29 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:50:03 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 00:50:19 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_305	[pipeline.py: 1174]
+05/15 00:50:19 INFO: [Worker 0] Batching and saving trajectory data for chunk_305 batch 2/3: 1 episodes	[pipeline.py: 238]
+05/15 00:50:19 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 00:50:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:50:21 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 00:50:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:50:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:50:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:50:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:50:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:50:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:50:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:50:30 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 00:50:30 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 00:50:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:50:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:50:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:50:32 INFO: [Worker 0] Feasibility-checked 80 grasps in 1.627s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:50:32 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.104[m] 1.331[deg]	[grasp_sample.py: 539]
+05/15 00:50:32 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:50:32 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:50:32 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:50:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 00:50:32 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_305	[save_utils.py: 785]
+05/15 00:50:32 INFO: [Worker 0] Successfully saved trajectory data for chunk_305 in 13.13s (batch: 4.08s, save: 9.05s)	[pipeline.py: 300]
+05/15 00:50:33 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 00:50:33 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.86s:
+  episode_total: mean=122.69s, total=245.38s, count=2, min=111999.6ms, max=133385.2ms
+  sensor_polling: mean=325.1ms, total=184.97s, count=569, min=297.3ms, max=716.6ms
+  physics_step: mean=20.9ms, total=11.86s, count=569, min=13.9ms, max=41.7ms
+  save_trajectories: mean=9.05s, total=9.05s, count=1, min=9050.3ms, max=9050.3ms
+  save_batch_prep: mean=4.08s, total=4.08s, count=1, min=4075.0ms, max=4075.0ms
+  task_sampling: mean=427.8ms, total=855.6ms, count=2, min=343.7ms, max=511.9ms
+  task_specific_sample: mean=423.8ms, total=847.6ms, count=2, min=340.1ms, max=507.5ms
+  scene_randomize: mean=2.1ms, total=4.3ms, count=2, min=1.7ms, max=2.6ms
+  mj_forward_sync: mean=392.3us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=28.0us, total=0.1ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 00:50:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:50:35 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:50:35 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:50:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:50:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:50:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:50:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:50:35 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:50:35 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 00:50:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:50:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.053m, effective arm-mount z=0.913m (base_body_z=0.053m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:50:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:50:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:50:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.052753m	[env.py: 870]
+05/15 00:50:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:50:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:50:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:50:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 149.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:50:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -76.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:50:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 68.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:50:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 63.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:50:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -174.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:50:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.00940056 -1.15315572  0.05275343] yaw=191.1deg	[env.py: 1019]
+05/15 00:50:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:50:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:50:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=174.5ms, total=174.5ms	[env.py: 1075]
+05/15 00:50:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.009, -1.153, 0.053)	[env.py: 1079]
+05/15 00:50:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 191.1 deg	[env.py: 1082]
+05/15 00:50:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.117m	[env.py: 1086]
+05/15 00:50:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:50:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:50:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:50:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:50:35 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:50:35 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:50:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:50:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:50:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:50:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:50:37 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_305	[pipeline.py: 1174]
+05/15 00:50:37 INFO: [Worker 0] Batching and saving trajectory data for chunk_305 batch 3/3: 1 episodes	[pipeline.py: 238]
+05/15 00:50:37 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 00:50:37 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.138s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:50:37 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.763[m] 80.115[deg]	[grasp_sample.py: 539]
+05/15 00:50:37 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:50:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:50:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:50:38 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 00:50:48 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_305	[pipeline.py: 1174]
+05/15 00:50:48 INFO: [Worker 0] Batching and saving trajectory data for chunk_305 batch 1/3: 1 episodes	[pipeline.py: 238]
+05/15 00:50:48 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 00:50:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 00:50:49 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_305	[save_utils.py: 785]
+05/15 00:50:49 INFO: [Worker 0] Successfully saved trajectory data for chunk_305 in 11.75s (batch: 2.80s, save: 8.95s)	[pipeline.py: 300]
+05/15 00:50:49 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=1.04s:
+  episode_total: mean=144.10s, total=288.21s, count=2, min=121499.3ms, max=166707.3ms
+  sensor_polling: mean=417.8ms, total=227.31s, count=544, min=299.9ms, max=846.2ms
+  physics_step: mean=23.1ms, total=12.55s, count=544, min=14.1ms, max=33.5ms
+  save_trajectories: mean=8.95s, total=8.95s, count=1, min=8954.9ms, max=8954.9ms
+  save_batch_prep: mean=2.80s, total=2.80s, count=1, min=2796.6ms, max=2796.6ms
+  task_sampling: mean=517.6ms, total=1.04s, count=2, min=368.3ms, max=667.0ms
+  task_specific_sample: mean=513.2ms, total=1.03s, count=2, min=364.3ms, max=662.1ms
+  scene_randomize: mean=2.5ms, total=4.9ms, count=2, min=1.6ms, max=3.4ms
+  mj_forward_sync: mean=514.8us, total=1.0ms, count=2, min=0.4ms, max=0.6ms
+  policy_setup: mean=14.7us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 00:50:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:50:50 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:50:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:50:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:50:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:50:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:50:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:50:50 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:50:50 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 00:50:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:50:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.088m, effective arm-mount z=0.772m (base_body_z=-0.088m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:50:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:50:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:50:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.088362m	[env.py: 870]
+05/15 00:50:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:50:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:50:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18673 free points within sampling radius	[env.py: 907]
+05/15 00:50:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 93.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:50:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 128.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:50:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 179.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:50:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 118.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:50:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.31497379 -0.17958493 -0.08836209] yaw=-119.2deg	[env.py: 1019]
+05/15 00:50:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:50:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.07760405 -0.61964604 -0.08836209] yaw=-151.7deg	[env.py: 1019]
+05/15 00:50:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:50:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.29841751 -0.4798373  -0.08836209] yaw=-175.8deg	[env.py: 1019]
+05/15 00:50:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 00:50:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:50:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=459.3ms, total=459.3ms	[env.py: 1075]
+05/15 00:50:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.315, -0.180, -0.088)	[env.py: 1079]
+05/15 00:50:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -119.2 deg	[env.py: 1082]
+05/15 00:50:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.991m	[env.py: 1086]
+05/15 00:50:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:50:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:50:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:50:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:50:51 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:50:51 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:50:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:50:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:50:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:50:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:50:53 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.057s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:50:53 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.600[m] 103.296[deg]	[grasp_sample.py: 539]
+05/15 00:50:53 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:50:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:50:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:51:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 00:51:01 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_305	[save_utils.py: 785]
+05/15 00:51:01 INFO: [Worker 0] Successfully saved trajectory data for chunk_305 in 12.94s (batch: 2.78s, save: 10.16s)	[pipeline.py: 300]
+05/15 00:51:01 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.84s:
+  episode_total: mean=181.10s, total=181.10s, count=1, min=181101.5ms, max=181101.5ms
+  sensor_polling: mean=423.8ms, total=127.14s, count=300, min=334.2ms, max=862.4ms
+  save_trajectories: mean=10.16s, total=10.16s, count=1, min=10158.1ms, max=10158.1ms
+  physics_step: mean=23.6ms, total=7.07s, count=300, min=17.3ms, max=32.6ms
+  save_batch_prep: mean=2.78s, total=2.78s, count=1, min=2777.3ms, max=2777.3ms
+  task_sampling: mean=837.4ms, total=837.4ms, count=1, min=837.4ms, max=837.4ms
+  task_specific_sample: mean=833.9ms, total=833.9ms, count=1, min=833.9ms, max=833.9ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=410.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=25.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 00:51:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:51:03 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:51:03 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:51:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:51:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:51:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:51:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:51:03 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:51:03 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 00:51:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:51:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.075m, effective arm-mount z=0.785m (base_body_z=-0.075m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:51:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:51:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:51:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.074544m	[env.py: 870]
+05/15 00:51:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:51:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:51:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:51:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 132.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:51:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 61.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:51:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.1431814  -0.87110614 -0.07454434] yaw=163.6deg	[env.py: 1019]
+05/15 00:51:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:51:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.0883316  -0.74340926 -0.07454434] yaw=-183.4deg	[env.py: 1019]
+05/15 00:51:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:51:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 121.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:51:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:51:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=265.6ms, total=265.7ms	[env.py: 1075]
+05/15 00:51:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.143, -0.871, -0.075)	[env.py: 1079]
+05/15 00:51:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 163.6 deg	[env.py: 1082]
+05/15 00:51:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.933m	[env.py: 1086]
+05/15 00:51:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:51:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:51:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:51:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:51:03 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:51:03 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:51:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.090s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:51:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:51:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:51:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:51:04 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.703s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:51:04 INFO: [Worker 0] Feasible grasp found 70 (originally 70): w/ 0.594[m] 52.759[deg]	[grasp_sample.py: 539]
+05/15 00:51:04 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:51:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:51:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:51:05 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 00:51:28 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:51:35 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:51:39 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:51:50 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:51:52 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:51:57 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:52:00 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:52:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:52:05 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:52:26 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 00:52:43 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_305	[pipeline.py: 1174]
+05/15 00:52:43 INFO: [Worker 0] Batching and saving trajectory data for chunk_305 batch 2/3: 1 episodes	[pipeline.py: 238]
+05/15 00:52:43 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 00:52:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:52:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 00:52:55 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_305	[save_utils.py: 785]
+05/15 00:52:55 INFO: [Worker 0] Successfully saved trajectory data for chunk_305 in 12.48s (batch: 4.05s, save: 8.43s)	[pipeline.py: 300]
+05/15 00:52:56 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.38s:
+  episode_total: mean=141.06s, total=141.06s, count=1, min=141060.4ms, max=141060.4ms
+  sensor_polling: mean=333.1ms, total=99.92s, count=300, min=298.0ms, max=674.8ms
+  save_trajectories: mean=8.43s, total=8.43s, count=1, min=8425.6ms, max=8425.6ms
+  physics_step: mean=21.6ms, total=6.47s, count=300, min=14.1ms, max=33.4ms
+  save_batch_prep: mean=4.05s, total=4.05s, count=1, min=4052.0ms, max=4052.0ms
+  task_sampling: mean=382.0ms, total=382.0ms, count=1, min=382.0ms, max=382.0ms
+  task_specific_sample: mean=378.5ms, total=378.5ms, count=1, min=378.5ms, max=378.5ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=363.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=20.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 00:52:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:52:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:52:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:52:57 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:52:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:52:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:52:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:52:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:52:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:52:57 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:52:57 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 00:52:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:52:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.018m, effective arm-mount z=0.878m (base_body_z=0.018m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:52:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:52:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:52:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.018017m	[env.py: 870]
+05/15 00:52:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:52:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:52:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:52:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.24976311 -0.77511194  0.01801732] yaw=-201.8deg	[env.py: 1019]
+05/15 00:52:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:52:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.39191024 -0.18554247  0.01801732] yaw=-153.9deg	[env.py: 1019]
+05/15 00:52:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:52:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.41744213  0.17833321  0.01801732] yaw=-123.8deg	[env.py: 1019]
+05/15 00:52:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 00:52:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:52:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=89.9ms, total=90.0ms	[env.py: 1075]
+05/15 00:52:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.250, -0.775, 0.018)	[env.py: 1079]
+05/15 00:52:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -201.8 deg	[env.py: 1082]
+05/15 00:52:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.826m	[env.py: 1086]
+05/15 00:52:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:52:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:52:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:52:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:52:58 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:52:58 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:52:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:52:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:52:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:52:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:52:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:52:59 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.022s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:52:59 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.536[m] 42.948[deg]	[grasp_sample.py: 539]
+05/15 00:52:59 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:53:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:53:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:53:00 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 00:53:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:53:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:53:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:53:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:53:05 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 00:53:05 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 00:53:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:53:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:53:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 84 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:53:07 INFO: [Worker 0] Feasibility-checked 84 grasps in 1.816s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 00:53:07 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 00:53:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:53:08 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:53:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:53:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:53:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:53:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:53:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:53:08 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:53:08 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 00:53:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:53:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.005m, effective arm-mount z=0.855m (base_body_z=-0.005m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:53:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:53:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:53:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.005480m	[env.py: 870]
+05/15 00:53:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:53:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:53:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18673 free points within sampling radius	[env.py: 907]
+05/15 00:53:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.17896333 -0.22317971 -0.00548005] yaw=-162.8deg	[env.py: 1019]
+05/15 00:53:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:53:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.11103569 -0.78752111 -0.00548005] yaw=-193.9deg	[env.py: 1019]
+05/15 00:53:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:53:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -172.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:53:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.06825595 -0.59358237 -0.00548005] yaw=-188.1deg	[env.py: 1019]
+05/15 00:53:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 00:53:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:53:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=144.0ms, total=144.1ms	[env.py: 1075]
+05/15 00:53:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.179, -0.223, -0.005)	[env.py: 1079]
+05/15 00:53:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -162.8 deg	[env.py: 1082]
+05/15 00:53:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.074m	[env.py: 1086]
+05/15 00:53:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:53:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:53:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:53:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:53:09 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:53:09 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:53:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:53:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:53:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:53:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:53:11 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.220s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:53:11 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.624[m] 56.974[deg]	[grasp_sample.py: 539]
+05/15 00:53:12 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/15 00:53:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:53:13 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:53:13 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:53:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:53:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:53:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:53:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:53:13 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:53:13 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 00:53:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:53:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.029m, effective arm-mount z=0.889m (base_body_z=0.029m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:53:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:53:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:53:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.028628m	[env.py: 870]
+05/15 00:53:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:53:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:53:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18673 free points within sampling radius	[env.py: 907]
+05/15 00:53:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -173.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:53:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.09122524 -1.02013073  0.02862847] yaw=146.0deg	[env.py: 1019]
+05/15 00:53:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:53:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -57.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:53:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.04901735 -0.73580664  0.02862847] yaw=-194.5deg	[env.py: 1019]
+05/15 00:53:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:53:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 146.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:53:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.27337432 -1.10853756  0.02862847] yaw=188.2deg	[env.py: 1019]
+05/15 00:53:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 00:53:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:53:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=329.3ms, total=329.3ms	[env.py: 1075]
+05/15 00:53:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.091, -1.020, 0.029)	[env.py: 1079]
+05/15 00:53:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 146.0 deg	[env.py: 1082]
+05/15 00:53:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.004m	[env.py: 1086]
+05/15 00:53:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:53:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:53:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:53:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:53:14 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:53:14 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:53:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.101s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:53:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:53:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:53:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:53:15 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.058s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:53:15 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.670[m] 99.633[deg]	[grasp_sample.py: 539]
+05/15 00:53:15 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:53:16 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:53:16 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:53:16 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 00:53:16 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 00:53:31 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_305	[pipeline.py: 1174]
+05/15 00:53:31 INFO: [Worker 0] Batching and saving trajectory data for chunk_305 batch 1/3: 1 episodes	[pipeline.py: 238]
+05/15 00:53:31 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 00:53:35 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:53:41 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:53:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 00:53:42 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_305	[save_utils.py: 785]
+05/15 00:53:42 INFO: [Worker 0] Successfully saved trajectory data for chunk_305 in 11.02s (batch: 2.54s, save: 8.48s)	[pipeline.py: 300]
+05/15 00:53:42 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.53s:
+  episode_total: mean=159.76s, total=159.76s, count=1, min=159763.7ms, max=159763.7ms
+  sensor_polling: mean=402.2ms, total=120.65s, count=300, min=307.2ms, max=775.7ms
+  save_trajectories: mean=8.48s, total=8.48s, count=1, min=8482.5ms, max=8482.5ms
+  physics_step: mean=23.4ms, total=7.01s, count=300, min=17.2ms, max=29.5ms
+  save_batch_prep: mean=2.54s, total=2.54s, count=1, min=2539.2ms, max=2539.2ms
+  task_sampling: mean=531.1ms, total=531.1ms, count=1, min=531.1ms, max=531.1ms
+  task_specific_sample: mean=527.4ms, total=527.4ms, count=1, min=527.4ms, max=527.4ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=403.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=22.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 00:53:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:53:44 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:53:44 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:53:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:53:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:53:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:53:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:53:44 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:53:44 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 00:53:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:53:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.086m, effective arm-mount z=0.774m (base_body_z=-0.086m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:53:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:53:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:53:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.086395m	[env.py: 870]
+05/15 00:53:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:53:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:53:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:53:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 150.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:53:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.31691356 -0.23316466 -0.08639508] yaw=-118.0deg	[env.py: 1019]
+05/15 00:53:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:53:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 176.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:53:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.19741755 -0.94537936 -0.08639508] yaw=194.3deg	[env.py: 1019]
+05/15 00:53:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:53:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -32.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:53:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.39009565 -0.16733296 -0.08639508] yaw=-134.8deg	[env.py: 1019]
+05/15 00:53:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 00:53:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:53:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=169.0ms, total=169.0ms	[env.py: 1075]
+05/15 00:53:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.317, -0.233, -0.086)	[env.py: 1079]
+05/15 00:53:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -118.0 deg	[env.py: 1082]
+05/15 00:53:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.956m	[env.py: 1086]
+05/15 00:53:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:53:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:53:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:53:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:53:44 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:53:44 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:53:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.098s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:53:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:53:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:53:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:53:44 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:53:46 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.232s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:53:46 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.509[m] 104.346[deg]	[grasp_sample.py: 539]
+05/15 00:53:46 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:53:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:53:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:54:16 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:54:26 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:54:30 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:54:31 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:54:39 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:54:43 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:54:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:54:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:54:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:54:50 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 00:54:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:54:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:54:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:54:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:54:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:54:58 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 00:54:58 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 00:54:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:54:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:54:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:54:58 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.591s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:54:58 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.031[m] 0.315[deg]	[grasp_sample.py: 539]
+05/15 00:54:58 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:54:59 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:54:59 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:55:04 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:55:08 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_305	[pipeline.py: 1174]
+05/15 00:55:08 INFO: [Worker 0] Batching and saving trajectory data for chunk_305 batch 2/3: 1 episodes	[pipeline.py: 238]
+05/15 00:55:08 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 00:55:13 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:55:17 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:55:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 00:55:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_305	[save_utils.py: 785]
+05/15 00:55:20 INFO: [Worker 0] Successfully saved trajectory data for chunk_305 in 12.56s (batch: 3.76s, save: 8.80s)	[pipeline.py: 300]
+05/15 00:55:21 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.31s:
+  episode_total: mean=143.42s, total=143.42s, count=1, min=143423.7ms, max=143423.7ms
+  sensor_polling: mean=320.7ms, total=96.22s, count=300, min=296.6ms, max=600.3ms
+  save_trajectories: mean=8.80s, total=8.80s, count=1, min=8796.9ms, max=8796.9ms
+  physics_step: mean=20.8ms, total=6.24s, count=300, min=14.0ms, max=27.8ms
+  save_batch_prep: mean=3.76s, total=3.76s, count=1, min=3762.5ms, max=3762.5ms
+  task_sampling: mean=313.6ms, total=313.6ms, count=1, min=313.6ms, max=313.6ms
+  task_specific_sample: mean=309.9ms, total=309.9ms, count=1, min=309.9ms, max=309.9ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=418.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=30.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 00:55:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:55:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:55:23 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:55:23 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:55:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:55:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:55:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:55:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:55:23 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:55:23 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 00:55:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:55:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.037m, effective arm-mount z=0.823m (base_body_z=-0.037m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:55:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:55:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:55:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.036901m	[env.py: 870]
+05/15 00:55:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:55:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:55:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:55:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 133.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:55:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.15750917 -0.68761003 -0.03690126] yaw=-189.0deg	[env.py: 1019]
+05/15 00:55:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:55:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.22835685 -0.80293582 -0.03690126] yaw=-163.6deg	[env.py: 1019]
+05/15 00:55:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:55:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.15232212 -1.30162473 -0.03690126] yaw=151.3deg	[env.py: 1019]
+05/15 00:55:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 00:55:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:55:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=76.0ms, total=76.1ms	[env.py: 1075]
+05/15 00:55:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.158, -0.688, -0.037)	[env.py: 1079]
+05/15 00:55:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -189.0 deg	[env.py: 1082]
+05/15 00:55:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.926m	[env.py: 1086]
+05/15 00:55:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:55:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:55:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:55:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:55:23 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:55:23 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:55:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:55:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:55:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:55:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:55:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:55:25 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.937s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:55:25 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.544[m] 101.927[deg]	[grasp_sample.py: 539]
+05/15 00:55:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:55:26 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/15 00:55:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:55:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:55:28 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:55:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:55:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:55:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:55:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:55:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:55:28 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:55:28 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 00:55:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:55:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.065m, effective arm-mount z=0.795m (base_body_z=-0.065m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.064983m	[env.py: 870]
+05/15 00:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:55:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.60548968 -0.14026805 -0.0649831 ] yaw=-108.2deg	[env.py: 1019]
+05/15 00:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 174.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -169.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.17211528 -0.21001561 -0.0649831 ] yaw=-133.9deg	[env.py: 1019]
+05/15 00:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 65.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.26119047 -0.67796426 -0.0649831 ] yaw=-160.4deg	[env.py: 1019]
+05/15 00:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 00:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:55:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=117.3ms, total=117.4ms	[env.py: 1075]
+05/15 00:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.605, -0.140, -0.065)	[env.py: 1079]
+05/15 00:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -108.2 deg	[env.py: 1082]
+05/15 00:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.822m	[env.py: 1086]
+05/15 00:55:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:55:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:55:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:55:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:55:28 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:55:28 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:55:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:55:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:55:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:55:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:55:29 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.700s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:55:29 INFO: [Worker 0] Feasible grasp found 171 (originally 56): w/ 0.628[m] 92.457[deg]	[grasp_sample.py: 539]
+05/15 00:55:29 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:55:29 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:55:29 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:55:30 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 00:55:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:55:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:55:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:55:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:55:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:55:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:55:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:55:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:55:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:55:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:55:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:55:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:55:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:55:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:55:50 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 00:55:50 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 00:55:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:55:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:55:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.081s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:55:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:55:51 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.430s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:55:51 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.029[m] 3.817[deg]	[grasp_sample.py: 539]
+05/15 00:55:51 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:55:52 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:55:52 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:55:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:55:52 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 00:55:52 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 00:55:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:55:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:55:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:55:54 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.857s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:55:54 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.490[m] 19.309[deg]	[grasp_sample.py: 539]
+05/15 00:55:54 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:55:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:55:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:55:55 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:56:03 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:56:05 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/15 00:56:05 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=False episode_total=1.65s:
+  episode_total: mean=103.81s, total=311.44s, count=3, min=3751.2ms, max=171334.4ms
+  sensor_polling: mean=414.1ms, total=243.51s, count=588, min=288.6ms, max=946.0ms
+  physics_step: mean=22.5ms, total=13.24s, count=588, min=14.2ms, max=31.7ms
+  task_sampling: mean=549.8ms, total=1.65s, count=3, min=382.5ms, max=677.9ms
+  task_specific_sample: mean=545.8ms, total=1.64s, count=3, min=378.8ms, max=673.8ms
+  scene_randomize: mean=1.8ms, total=5.4ms, count=3, min=1.3ms, max=2.5ms
+  mj_forward_sync: mean=440.2us, total=1.3ms, count=3, min=0.4ms, max=0.5ms
+  policy_setup: mean=26.1us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 00:56:05 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/15 00:56:05 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=False episode_total=0.39s:
+  episode_total: mean=141.90s, total=141.90s, count=1, min=141895.9ms, max=141895.9ms
+  sensor_polling: mean=399.3ms, total=119.80s, count=300, min=298.9ms, max=736.9ms
+  physics_step: mean=22.7ms, total=6.82s, count=300, min=14.0ms, max=31.3ms
+  task_sampling: mean=394.2ms, total=394.2ms, count=1, min=394.2ms, max=394.2ms
+  task_specific_sample: mean=390.2ms, total=390.2ms, count=1, min=390.2ms, max=390.2ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=400.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=39.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 00:56:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:56:06 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:56:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:56:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:56:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:56:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:56:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:56:06 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:56:06 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 00:56:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:56:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.088m, effective arm-mount z=0.772m (base_body_z=-0.088m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:56:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:56:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:56:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.087747m	[env.py: 870]
+05/15 00:56:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:56:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:56:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18673 free points within sampling radius	[env.py: 907]
+05/15 00:56:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.33161487 -0.18729699 -0.087747  ] yaw=-125.5deg	[env.py: 1019]
+05/15 00:56:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:56:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.22764542 -0.35291132 -0.087747  ] yaw=-166.9deg	[env.py: 1019]
+05/15 00:56:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:56:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.42524161 -0.03794184 -0.087747  ] yaw=-118.4deg	[env.py: 1019]
+05/15 00:56:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 00:56:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:56:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=233.8ms, total=233.9ms	[env.py: 1075]
+05/15 00:56:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.332, -0.187, -0.088)	[env.py: 1079]
+05/15 00:56:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -125.5 deg	[env.py: 1082]
+05/15 00:56:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.973m	[env.py: 1086]
+05/15 00:56:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:56:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:56:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:56:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:56:07 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:56:07 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:56:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:56:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:56:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:56:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:56:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:56:07 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:56:07 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:56:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:56:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:56:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:56:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:56:07 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:56:07 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 00:56:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:56:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.078m, effective arm-mount z=0.938m (base_body_z=0.078m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:56:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:56:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:56:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.077873m	[env.py: 870]
+05/15 00:56:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:56:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:56:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:56:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -32.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:56:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -30.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:56:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 108.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:56:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 147.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:56:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.58840254 -0.0832457   0.07787261] yaw=-139.1deg	[env.py: 1019]
+05/15 00:56:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:56:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.2170655  -0.69732105  0.07787261] yaw=-148.1deg	[env.py: 1019]
+05/15 00:56:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:56:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.01020757 -1.33407629  0.07787261] yaw=147.7deg	[env.py: 1019]
+05/15 00:56:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 00:56:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:56:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=298.8ms, total=298.9ms	[env.py: 1075]
+05/15 00:56:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.588, -0.083, 0.078)	[env.py: 1079]
+05/15 00:56:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -139.1 deg	[env.py: 1082]
+05/15 00:56:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.879m	[env.py: 1086]
+05/15 00:56:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:56:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:56:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:56:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:56:08 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:56:08 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:56:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.063s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:56:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:56:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:56:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:56:08 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.606s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:56:08 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.489[m] 57.809[deg]	[grasp_sample.py: 539]
+05/15 00:56:08 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:56:09 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:56:09 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:56:10 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.417s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:56:10 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.741[m] 99.144[deg]	[grasp_sample.py: 539]
+05/15 00:56:12 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/15 00:56:12 WARNING: [Worker 0] Asset Fridge_m (hash: c5ee371e5ee9c94dd64f357b5ff4cf8f) dynamically blacklisted after 10 failures: rollout exception: IK failed for pregrasp pose	[task_sampler.py: 396]
+05/15 00:56:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:56:13 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:56:13 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:56:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:56:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:56:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:56:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:56:13 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:56:13 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 00:56:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:56:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.015m, effective arm-mount z=0.875m (base_body_z=0.015m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.015239m	[env.py: 870]
+05/15 00:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:56:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18673 free points within sampling radius	[env.py: 907]
+05/15 00:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 97.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.07701649 -0.95042499  0.01523853] yaw=195.5deg	[env.py: 1019]
+05/15 00:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.2247022  -0.26890241  0.01523853] yaw=-144.8deg	[env.py: 1019]
+05/15 00:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -65.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 129.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.48978748 -0.21280464  0.01523853] yaw=-156.3deg	[env.py: 1019]
+05/15 00:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 00:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:56:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=339.1ms, total=339.1ms	[env.py: 1075]
+05/15 00:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.077, -0.950, 0.015)	[env.py: 1079]
+05/15 00:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 195.5 deg	[env.py: 1082]
+05/15 00:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.006m	[env.py: 1086]
+05/15 00:56:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:56:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:56:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:56:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:56:14 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:56:14 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:56:14 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:56:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:56:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:56:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:56:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:56:15 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.839s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:56:15 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.639[m] 82.087[deg]	[grasp_sample.py: 539]
+05/15 00:56:15 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:56:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:56:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:56:15 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 00:56:20 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:56:23 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:56:42 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:56:50 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:56:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:56:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:56:54 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:56:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:56:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:56:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:56:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:57:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:57:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:57:02 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 00:57:02 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 00:57:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:57:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:57:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.063s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:57:04 INFO: [Worker 0] Feasibility-checked 78 grasps in 2.007s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:57:04 INFO: [Worker 0] Feasible grasp found 155 (originally 40): w/ 0.035[m] 6.745[deg]	[grasp_sample.py: 539]
+05/15 00:57:04 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:57:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:57:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:57:07 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:57:09 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:57:14 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:57:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:57:17 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:57:19 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:57:21 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/15 00:57:21 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=False episode_total=0.55s:
+  episode_total: mean=58.45s, total=116.89s, count=2, min=3320.9ms, max=113570.9ms
+  sensor_polling: mean=314.2ms, total=94.25s, count=300, min=287.3ms, max=543.9ms
+  physics_step: mean=19.8ms, total=5.94s, count=300, min=14.1ms, max=24.8ms
+  task_sampling: mean=276.8ms, total=553.6ms, count=2, min=267.2ms, max=286.3ms
+  task_specific_sample: mean=273.3ms, total=546.5ms, count=2, min=263.4ms, max=283.1ms
+  scene_randomize: mean=1.8ms, total=3.6ms, count=2, min=1.1ms, max=2.5ms
+  mj_forward_sync: mean=417.4us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=21.1us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 00:57:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:57:23 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:57:23 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:57:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:57:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:57:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:57:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:57:23 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:57:23 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 00:57:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:57:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.029m, effective arm-mount z=0.831m (base_body_z=-0.029m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:57:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:57:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:57:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.029333m	[env.py: 870]
+05/15 00:57:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:57:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:57:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:57:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.23828088 -0.76158087 -0.02933331] yaw=-187.5deg	[env.py: 1019]
+05/15 00:57:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:57:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -50.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:57:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 109.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:57:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -29.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:57:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.28988513 -1.13803995 -0.02933331] yaw=164.1deg	[env.py: 1019]
+05/15 00:57:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:57:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.3238264  -0.11831923 -0.02933331] yaw=-162.3deg	[env.py: 1019]
+05/15 00:57:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 00:57:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:57:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=117.0ms, total=117.0ms	[env.py: 1075]
+05/15 00:57:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.238, -0.762, -0.029)	[env.py: 1079]
+05/15 00:57:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -187.5 deg	[env.py: 1082]
+05/15 00:57:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.838m	[env.py: 1086]
+05/15 00:57:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:57:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:57:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:57:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:57:24 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:57:24 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:57:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:57:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:57:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:57:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:57:25 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.788s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:57:25 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.535[m] 129.143[deg]	[grasp_sample.py: 539]
+05/15 00:57:25 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:57:25 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:57:25 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:57:25 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 00:57:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:57:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:57:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:57:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:57:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:57:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:57:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:57:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:57:42 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 00:57:42 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 00:57:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:57:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:57:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.082s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:57:44 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.870s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:57:44 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 1.093[deg]	[grasp_sample.py: 539]
+05/15 00:57:45 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/15 00:57:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:57:47 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:57:47 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:57:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:57:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:57:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:57:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:57:47 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:57:47 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 00:57:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:57:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.007m, effective arm-mount z=0.853m (base_body_z=-0.007m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:57:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:57:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:57:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.007237m	[env.py: 870]
+05/15 00:57:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:57:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:57:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:57:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.3000118  -0.42288351 -0.00723661] yaw=-142.7deg	[env.py: 1019]
+05/15 00:57:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:57:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -75.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:57:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 111.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:57:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 61.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:57:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -165.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:57:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.41282621 -0.07922055 -0.00723661] yaw=-132.0deg	[env.py: 1019]
+05/15 00:57:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:57:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.07235129 -1.36186314 -0.00723661] yaw=179.1deg	[env.py: 1019]
+05/15 00:57:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 00:57:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:57:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=353.7ms, total=353.7ms	[env.py: 1075]
+05/15 00:57:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.300, -0.423, -0.007)	[env.py: 1079]
+05/15 00:57:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -142.7 deg	[env.py: 1082]
+05/15 00:57:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.868m	[env.py: 1086]
+05/15 00:57:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:57:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:57:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:57:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:57:48 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:57:48 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:57:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:57:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:57:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:57:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:57:48 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.768s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:57:48 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.517[m] 98.049[deg]	[grasp_sample.py: 539]
+05/15 00:57:48 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:57:49 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:57:49 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:57:49 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 00:58:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:58:17 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:58:20 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:58:20 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 00:58:29 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:58:36 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:58:40 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:58:41 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_305	[pipeline.py: 1174]
+05/15 00:58:41 INFO: [Worker 0] Batching and saving trajectory data for chunk_305 batch 3/3: 1 episodes	[pipeline.py: 238]
+05/15 00:58:41 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 00:58:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 00:58:55 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_305	[save_utils.py: 785]
+05/15 00:58:55 INFO: [Worker 0] Successfully saved trajectory data for chunk_305 in 14.03s (batch: 3.23s, save: 10.81s)	[pipeline.py: 300]
+05/15 00:58:55 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=1.03s:
+  episode_total: mean=83.87s, total=167.74s, count=2, min=5422.3ms, max=162314.0ms
+  sensor_polling: mean=384.6ms, total=115.38s, count=300, min=289.7ms, max=737.9ms
+  save_trajectories: mean=10.81s, total=10.81s, count=1, min=10808.4ms, max=10808.4ms
+  physics_step: mean=20.8ms, total=6.23s, count=300, min=14.7ms, max=28.7ms
+  save_batch_prep: mean=3.23s, total=3.23s, count=1, min=3225.1ms, max=3225.1ms
+  task_sampling: mean=513.1ms, total=1.03s, count=2, min=435.4ms, max=590.9ms
+  task_specific_sample: mean=509.0ms, total=1.02s, count=2, min=432.4ms, max=585.6ms
+  scene_randomize: mean=1.7ms, total=3.3ms, count=2, min=1.2ms, max=2.1ms
+  mj_forward_sync: mean=493.7us, total=1.0ms, count=2, min=0.4ms, max=0.6ms
+  policy_setup: mean=14.6us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 00:58:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:58:57 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:58:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:58:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:58:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:58:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:58:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:58:57 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:58:57 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 00:58:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:58:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.001m, effective arm-mount z=0.859m (base_body_z=-0.001m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:58:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:58:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:58:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.001264m	[env.py: 870]
+05/15 00:58:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:58:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:58:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18673 free points within sampling radius	[env.py: 907]
+05/15 00:58:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -65.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:58:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 172.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:58:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.20038708 -0.54829411 -0.00126388] yaw=-179.9deg	[env.py: 1019]
+05/15 00:58:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:58:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 134.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:58:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.04382477 -0.26153422 -0.00126388] yaw=-144.6deg	[env.py: 1019]
+05/15 00:58:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:58:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.25974089 -0.66391047 -0.00126388] yaw=-174.9deg	[env.py: 1019]
+05/15 00:58:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 00:58:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:58:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=279.0ms, total=279.0ms	[env.py: 1075]
+05/15 00:58:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.200, -0.548, -0.001)	[env.py: 1079]
+05/15 00:58:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -179.9 deg	[env.py: 1082]
+05/15 00:58:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.914m	[env.py: 1086]
+05/15 00:58:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:58:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:58:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:58:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:58:57 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:58:57 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:58:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:58:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:58:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:58:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:58:58 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.633s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:58:58 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.697[m] 124.375[deg]	[grasp_sample.py: 539]
+05/15 00:58:58 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:58:59 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:58:59 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:58:59 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 00:59:14 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 00:59:31 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_305	[pipeline.py: 1174]
+05/15 00:59:31 INFO: [Worker 0] Batching and saving trajectory data for chunk_305 batch 2/3: 1 episodes	[pipeline.py: 238]
+05/15 00:59:31 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 00:59:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 00:59:43 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_305	[save_utils.py: 785]
+05/15 00:59:43 INFO: [Worker 0] Successfully saved trajectory data for chunk_305 in 12.47s (batch: 3.40s, save: 9.07s)	[pipeline.py: 300]
+05/15 00:59:44 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.32s:
+  episode_total: mean=140.29s, total=140.29s, count=1, min=140288.7ms, max=140288.7ms
+  sensor_polling: mean=323.7ms, total=97.10s, count=300, min=295.7ms, max=650.0ms
+  save_trajectories: mean=9.07s, total=9.07s, count=1, min=9070.2ms, max=9070.2ms
+  physics_step: mean=20.0ms, total=6.00s, count=300, min=14.0ms, max=28.8ms
+  save_batch_prep: mean=3.40s, total=3.40s, count=1, min=3402.9ms, max=3402.9ms
+  task_sampling: mean=315.1ms, total=315.1ms, count=1, min=315.1ms, max=315.1ms
+  task_specific_sample: mean=311.9ms, total=311.9ms, count=1, min=311.9ms, max=311.9ms
+  scene_randomize: mean=1.6ms, total=1.6ms, count=1, min=1.6ms, max=1.6ms
+  mj_forward_sync: mean=441.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=26.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 00:59:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:59:45 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:59:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:59:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:59:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:59:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:59:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:59:45 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:59:45 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 00:59:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:59:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.045m, effective arm-mount z=0.815m (base_body_z=-0.045m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:59:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:59:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:59:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.045182m	[env.py: 870]
+05/15 00:59:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:59:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:59:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:59:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.07891846 -0.15861966 -0.04518171] yaw=-164.2deg	[env.py: 1019]
+05/15 00:59:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:59:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.40993266  0.02533219 -0.04518171] yaw=-139.4deg	[env.py: 1019]
+05/15 00:59:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:59:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.0686245  -0.20399354 -0.04518171] yaw=-125.5deg	[env.py: 1019]
+05/15 00:59:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 00:59:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:59:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=92.1ms, total=92.1ms	[env.py: 1075]
+05/15 00:59:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.079, -0.159, -0.045)	[env.py: 1079]
+05/15 00:59:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -164.2 deg	[env.py: 1082]
+05/15 00:59:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.193m	[env.py: 1086]
+05/15 00:59:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:59:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:59:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:59:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:59:46 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:59:46 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:59:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.094s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:59:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:59:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:59:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:59:48 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.222s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 00:59:48 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 00:59:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:59:50 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:59:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:59:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:59:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:59:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:59:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:59:50 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:59:50 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 00:59:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:59:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.014m, effective arm-mount z=0.874m (base_body_z=0.014m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:59:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:59:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:59:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.013765m	[env.py: 870]
+05/15 00:59:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:59:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:59:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:59:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 158.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:59:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.15755611 -0.10891519  0.01376505] yaw=-114.8deg	[env.py: 1019]
+05/15 00:59:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:59:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 123.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:59:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 71.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:59:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 87.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:59:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.0751598  -1.2458971   0.01376505] yaw=179.0deg	[env.py: 1019]
+05/15 00:59:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:59:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.25604389 -0.89990462  0.01376505] yaw=179.7deg	[env.py: 1019]
+05/15 00:59:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 00:59:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:59:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=149.1ms, total=149.1ms	[env.py: 1075]
+05/15 00:59:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.158, -0.109, 0.014)	[env.py: 1079]
+05/15 00:59:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -114.8 deg	[env.py: 1082]
+05/15 00:59:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.158m	[env.py: 1086]
+05/15 00:59:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:59:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:59:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:59:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:59:50 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:59:50 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:59:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.055s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:59:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:59:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:59:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:59:51 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 00:59:52 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.072s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 00:59:52 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 00:59:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:59:54 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:59:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:59:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:59:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:59:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:59:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:59:54 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:59:54 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 00:59:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:59:54 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: 273]
+05/15 00:59:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:59:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:59:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.067032m	[env.py: 870]
+05/15 00:59:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:59:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:59:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:59:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 66.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:59:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 104.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:59:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.01485437 -0.97720981  0.06703215] yaw=185.5deg	[env.py: 1019]
+05/15 00:59:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:59:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.02624    -0.9638037   0.06703215] yaw=144.9deg	[env.py: 1019]
+05/15 00:59:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:59:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.27155462 -0.93604013  0.06703215] yaw=187.8deg	[env.py: 1019]
+05/15 00:59:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 00:59:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:59:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=183.9ms, total=184.0ms	[env.py: 1075]
+05/15 00:59:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.015, -0.977, 0.067)	[env.py: 1079]
+05/15 00:59:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 185.5 deg	[env.py: 1082]
+05/15 00:59:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.072m	[env.py: 1086]
+05/15 00:59:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:59:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:59:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:59:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:59:54 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:59:54 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:59:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:59:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:59:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:59:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:59:56 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.041s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:59:56 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.641[m] 56.217[deg]	[grasp_sample.py: 539]
+05/15 00:59:56 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:59:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:59:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:59:56 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 01:00:04 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:00:07 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_305	[pipeline.py: 1174]
+05/15 01:00:07 INFO: [Worker 0] Batching and saving trajectory data for chunk_305 batch 1/3: 1 episodes	[pipeline.py: 238]
+05/15 01:00:07 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 01:00:12 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 01:00:16 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:00:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 01:00:19 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_305	[save_utils.py: 785]
+05/15 01:00:19 INFO: [Worker 0] Successfully saved trajectory data for chunk_305 in 11.85s (batch: 3.06s, save: 8.79s)	[pipeline.py: 300]
+05/15 01:00:19 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=1.08s:
+  episode_total: mean=125.40s, total=250.81s, count=2, min=98426.3ms, max=152381.4ms
+  sensor_polling: mean=375.4ms, total=192.22s, count=512, min=283.0ms, max=736.9ms
+  physics_step: mean=22.2ms, total=11.39s, count=512, min=17.3ms, max=30.1ms
+  save_trajectories: mean=8.79s, total=8.79s, count=1, min=8793.0ms, max=8793.0ms
+  save_batch_prep: mean=3.06s, total=3.06s, count=1, min=3060.1ms, max=3060.1ms
+  task_sampling: mean=539.9ms, total=1.08s, count=2, min=522.6ms, max=557.2ms
+  task_specific_sample: mean=535.7ms, total=1.07s, count=2, min=518.8ms, max=552.5ms
+  scene_randomize: mean=1.5ms, total=2.9ms, count=2, min=1.4ms, max=1.5ms
+  mj_forward_sync: mean=502.6us, total=1.0ms, count=2, min=0.4ms, max=0.6ms
+  policy_setup: mean=14.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 01:00:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 01:00:21 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 01:00:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 01:00:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:00:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:00:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:00:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:00:21 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 01:00:21 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 01:00:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 01:00:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.079m, effective arm-mount z=0.781m (base_body_z=-0.079m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 01:00:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 01:00:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 01:00:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.079314m	[env.py: 870]
+05/15 01:00:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 01:00:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 01:00:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 01:00:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 62.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:00:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.28833258 -1.00827365 -0.07931416] yaw=163.4deg	[env.py: 1019]
+05/15 01:00:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 01:00:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 121.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:00:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -36.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:00:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 172.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:00:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 01:00:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=207.8ms, total=207.8ms	[env.py: 1075]
+05/15 01:00:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.288, -1.008, -0.079)	[env.py: 1079]
+05/15 01:00:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 163.4 deg	[env.py: 1082]
+05/15 01:00:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.809m	[env.py: 1086]
+05/15 01:00:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:00:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:00:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:00:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:00:21 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 01:00:21 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/15 01:00:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s	[base_object_manipulation_planner_policy.py: 377]
+05/15 01:00:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 01:00:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 01:00:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 01:00:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.482s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 01:00:22 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.440[m] 103.736[deg]	[grasp_sample.py: 539]
+05/15 01:00:22 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 01:00:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 01:00:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:00:23 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 01:00:41 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:00:48 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 01:00:51 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:01:02 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:01:10 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 01:01:14 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:01:16 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 01:01:34 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_305	[pipeline.py: 1174]
+05/15 01:01:34 INFO: [Worker 0] Batching and saving trajectory data for chunk_305 batch 3/3: 1 episodes	[pipeline.py: 238]
+05/15 01:01:34 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 01:01:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 01:01:45 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_305	[save_utils.py: 785]
+05/15 01:01:45 INFO: [Worker 0] Successfully saved trajectory data for chunk_305 in 11.70s (batch: 2.80s, save: 8.90s)	[pipeline.py: 300]
+05/15 01:01:46 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.51s:
+  episode_total: mean=168.72s, total=168.72s, count=1, min=168719.6ms, max=168719.6ms
+  sensor_polling: mean=422.8ms, total=126.83s, count=300, min=301.8ms, max=784.7ms
+  save_trajectories: mean=8.90s, total=8.90s, count=1, min=8896.5ms, max=8896.5ms
+  physics_step: mean=24.9ms, total=7.48s, count=300, min=17.4ms, max=57.3ms
+  save_batch_prep: mean=2.80s, total=2.80s, count=1, min=2802.3ms, max=2802.3ms
+  task_sampling: mean=512.4ms, total=512.4ms, count=1, min=512.4ms, max=512.4ms
+  task_specific_sample: mean=508.1ms, total=508.1ms, count=1, min=508.1ms, max=508.1ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=544.9us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=18.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 01:01:46 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 01:01:47 WARNING: [Worker 0] No trajectory data to save for chunk_305	[pipeline.py: 234]
+05/15 01:01:47 WARNING: [Worker 0] No trajectory data to save for chunk_305	[pipeline.py: 234]
+05/15 01:01:47 INFO: [Worker 0] Worker 0 completed house 1: 8/9 successful episodes	[pipeline.py: 1323]
+05/15 01:01:47 INFO: [Worker 0] [PROFILE] House 1 complete: 8/9 successful, 9 episodes, total_time=3353.48s
+  House averages:
+  episode_total: mean=101.18s, total=1821.30s, count=18, min=2577.6ms, max=202557.0ms
+  sensor_polling: mean=410.5ms, total=1326.62s, count=3232, min=282.1ms, max=946.0ms
+  save_trajectories: mean=9.73s, total=77.84s, count=8, min=8519.6ms, max=10808.4ms
+  physics_step: mean=23.0ms, total=74.23s, count=3232, min=13.3ms, max=57.3ms
+  save_batch_prep: mean=3.16s, total=25.25s, count=8, min=2700.9ms, max=4373.0ms
+  task_sampling: mean=681.3ms, total=12.26s, count=18, min=336.6ms, max=3554.8ms
+  task_specific_sample: mean=521.9ms, total=9.39s, count=18, min=319.5ms, max=774.4ms
+  scene_load: mean=2.78s, total=2.78s, count=1, min=2777.8ms, max=2777.8ms
+  scene_env_create: mean=1.59s, total=1.59s, count=1, min=1591.0ms, max=1591.0ms
+  scene_compile: mean=864.2ms, total=864.2ms, count=1, min=864.2ms, max=864.2ms
+  compile_mujoco: mean=564.9ms, total=564.9ms, count=1, min=564.9ms, max=564.9ms
+  scene_init: mean=279.3ms, total=279.3ms, count=1, min=279.3ms, max=279.3ms
+  compile_xml_load: mean=178.5ms, total=178.5ms, count=1, min=178.5ms, max=178.5ms
+  compile_aux_objects: mean=74.9ms, total=74.9ms, count=1, min=74.9ms, max=74.9ms
+  compile_aux_policy_objects: mean=74.8ms, total=74.8ms, count=1, min=74.8ms, max=74.8ms
+  scene_asset_install: mean=43.0ms, total=43.0ms, count=1, min=43.0ms, max=43.0ms
+  scene_randomize: mean=2.1ms, total=38.6ms, count=18, min=1.2ms, max=3.4ms
+  compile_robot_add: mean=34.9ms, total=34.9ms, count=1, min=34.9ms, max=34.9ms
+  asset_install_grasps: mean=31.4ms, total=31.4ms, count=1, min=31.4ms, max=31.4ms
+  asset_install_objects: mean=9.1ms, total=9.1ms, count=1, min=9.1ms, max=9.1ms
+  mj_forward_sync: mean=469.3us, total=8.4ms, count=18, min=0.3ms, max=0.6ms
+  asset_install_scene: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  policy_setup: mean=25.6us, 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]
+05/15 01:01:47 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/15 01:01:47 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 9 episodes, total_time=3353.48s
+  Worker averages:
+  episode_total: mean=101.18s, total=1821.30s, count=18, min=2577.6ms, max=202557.0ms
+  sensor_polling: mean=410.5ms, total=1326.62s, count=3232, min=282.1ms, max=946.0ms
+  save_trajectories: mean=9.73s, total=77.84s, count=8, min=8519.6ms, max=10808.4ms
+  physics_step: mean=23.0ms, total=74.23s, count=3232, min=13.3ms, max=57.3ms
+  save_batch_prep: mean=3.16s, total=25.25s, count=8, min=2700.9ms, max=4373.0ms
+  task_sampling: mean=681.3ms, total=12.26s, count=18, min=336.6ms, max=3554.8ms
+  task_specific_sample: mean=521.9ms, total=9.39s, count=18, min=319.5ms, max=774.4ms
+  scene_load: mean=2.78s, total=2.78s, count=1, min=2777.8ms, max=2777.8ms
+  scene_env_create: mean=1.59s, total=1.59s, count=1, min=1591.0ms, max=1591.0ms
+  scene_compile: mean=864.2ms, total=864.2ms, count=1, min=864.2ms, max=864.2ms
+  compile_mujoco: mean=564.9ms, total=564.9ms, count=1, min=564.9ms, max=564.9ms
+  scene_init: mean=279.3ms, total=279.3ms, count=1, min=279.3ms, max=279.3ms
+  compile_xml_load: mean=178.5ms, total=178.5ms, count=1, min=178.5ms, max=178.5ms
+  compile_aux_objects: mean=74.9ms, total=74.9ms, count=1, min=74.9ms, max=74.9ms
+  compile_aux_policy_objects: mean=74.8ms, total=74.8ms, count=1, min=74.8ms, max=74.8ms
+  scene_asset_install: mean=43.0ms, total=43.0ms, count=1, min=43.0ms, max=43.0ms
+  scene_randomize: mean=2.1ms, total=38.6ms, count=18, min=1.2ms, max=3.4ms
+  compile_robot_add: mean=34.9ms, total=34.9ms, count=1, min=34.9ms, max=34.9ms
+  asset_install_grasps: mean=31.4ms, total=31.4ms, count=1, min=31.4ms, max=31.4ms
+  asset_install_objects: mean=9.1ms, total=9.1ms, count=1, min=9.1ms, max=9.1ms
+  mj_forward_sync: mean=469.3us, total=8.4ms, count=18, min=0.3ms, max=0.6ms
+  asset_install_scene: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  policy_setup: mean=25.6us, 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]
+05/15 01:01:49 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/15 01:01:49 INFO: Success count: 8, Total count: 9	[pipeline.py: 1491]
+05/15 01:01:49 INFO: Success rate: 88.89%	[pipeline.py: 1492]
+05/15 01:02:03 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_305	[pipeline.py: 1174]
+05/15 01:02:03 INFO: [Worker 0] Batching and saving trajectory data for chunk_305 batch 2/3: 1 episodes	[pipeline.py: 238]
+05/15 01:02:03 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 01:02:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 01:02:16 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_305	[save_utils.py: 785]
+05/15 01:02:16 INFO: [Worker 0] Successfully saved trajectory data for chunk_305 in 12.78s (batch: 3.48s, save: 9.30s)	[pipeline.py: 300]
+05/15 01:02:17 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=1.03s:
+  episode_total: mean=49.27s, total=147.80s, count=3, min=2523.7ms, max=142558.1ms
+  sensor_polling: mean=333.1ms, total=99.92s, count=300, min=299.5ms, max=616.7ms
+  save_trajectories: mean=9.30s, total=9.30s, count=1, min=9302.5ms, max=9302.5ms
+  physics_step: mean=20.9ms, total=6.26s, count=300, min=14.1ms, max=87.6ms
+  save_batch_prep: mean=3.48s, total=3.48s, count=1, min=3482.1ms, max=3482.1ms
+  task_sampling: mean=343.5ms, total=1.03s, count=3, min=331.8ms, max=364.8ms
+  task_specific_sample: mean=340.1ms, total=1.02s, count=3, min=327.7ms, max=362.0ms
+  scene_randomize: mean=1.8ms, total=5.3ms, count=3, min=1.3ms, max=2.6ms
+  mj_forward_sync: mean=422.6us, total=1.3ms, count=3, min=0.4ms, max=0.4ms
+  policy_setup: mean=25.3us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 01:02:18 WARNING: [Worker 0] No trajectory data to save for chunk_305	[pipeline.py: 234]
+05/15 01:02:18 WARNING: [Worker 0] No trajectory data to save for chunk_305	[pipeline.py: 234]
+05/15 01:02:18 INFO: [Worker 0] Worker 0 completed house 1: 10/11 successful episodes	[pipeline.py: 1323]
+05/15 01:02:18 INFO: [Worker 0] [PROFILE] House 1 complete: 10/11 successful, 11 episodes, total_time=3384.99s
+  House averages:
+  episode_total: mean=102.72s, total=1848.89s, count=18, min=2436.6ms, max=157113.4ms
+  sensor_polling: mean=339.0ms, total=1304.95s, count=3849, min=287.3ms, max=781.5ms
+  save_trajectories: mean=8.92s, total=89.20s, count=10, min=8425.6ms, max=9302.5ms
+  physics_step: mean=20.9ms, total=80.58s, count=3849, min=12.9ms, max=87.6ms
+  save_batch_prep: mean=3.80s, total=38.00s, count=10, min=2630.7ms, max=4920.4ms
+  task_sampling: mean=541.2ms, total=9.74s, count=18, min=267.2ms, max=3581.2ms
+  task_specific_sample: mean=380.8ms, total=6.85s, count=18, min=263.4ms, max=759.9ms
+  scene_load: mean=2.82s, total=2.82s, count=1, min=2818.6ms, max=2818.6ms
+  scene_env_create: mean=1.70s, total=1.70s, count=1, min=1696.3ms, max=1696.3ms
+  scene_compile: mean=1.01s, total=1.01s, count=1, min=1005.1ms, max=1005.1ms
+  compile_mujoco: mean=634.9ms, total=634.9ms, count=1, min=634.9ms, max=634.9ms
+  compile_xml_load: mean=302.3ms, total=302.3ms, count=1, min=302.3ms, max=302.3ms
+  scene_init: mean=77.6ms, total=77.6ms, count=1, min=77.6ms, max=77.6ms
+  compile_aux_objects: mean=42.2ms, total=42.2ms, count=1, min=42.2ms, max=42.2ms
+  compile_aux_policy_objects: mean=42.2ms, total=42.2ms, count=1, min=42.2ms, max=42.2ms
+  scene_randomize: mean=2.3ms, total=41.2ms, count=18, min=1.1ms, max=8.9ms
+  scene_asset_install: mean=39.0ms, total=39.0ms, count=1, min=39.0ms, max=39.0ms
+  asset_install_grasps: mean=27.4ms, total=27.4ms, count=1, min=27.4ms, max=27.4ms
+  compile_robot_add: mean=16.3ms, total=16.3ms, count=1, min=16.3ms, max=16.3ms
+  asset_install_objects: mean=8.6ms, total=8.6ms, count=1, min=8.6ms, max=8.6ms
+  mj_forward_sync: mean=405.4us, total=7.3ms, count=18, min=0.3ms, max=0.5ms
+  asset_install_scene: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
+  policy_setup: mean=27.1us, 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]
+05/15 01:02:18 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/15 01:02:18 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 11 episodes, total_time=3384.99s
+  Worker averages:
+  episode_total: mean=102.72s, total=1848.89s, count=18, min=2436.6ms, max=157113.4ms
+  sensor_polling: mean=339.0ms, total=1304.95s, count=3849, min=287.3ms, max=781.5ms
+  save_trajectories: mean=8.92s, total=89.20s, count=10, min=8425.6ms, max=9302.5ms
+  physics_step: mean=20.9ms, total=80.58s, count=3849, min=12.9ms, max=87.6ms
+  save_batch_prep: mean=3.80s, total=38.00s, count=10, min=2630.7ms, max=4920.4ms
+  task_sampling: mean=541.2ms, total=9.74s, count=18, min=267.2ms, max=3581.2ms
+  task_specific_sample: mean=380.8ms, total=6.85s, count=18, min=263.4ms, max=759.9ms
+  scene_load: mean=2.82s, total=2.82s, count=1, min=2818.6ms, max=2818.6ms
+  scene_env_create: mean=1.70s, total=1.70s, count=1, min=1696.3ms, max=1696.3ms
+  scene_compile: mean=1.01s, total=1.01s, count=1, min=1005.1ms, max=1005.1ms
+  compile_mujoco: mean=634.9ms, total=634.9ms, count=1, min=634.9ms, max=634.9ms
+  compile_xml_load: mean=302.3ms, total=302.3ms, count=1, min=302.3ms, max=302.3ms
+  scene_init: mean=77.6ms, total=77.6ms, count=1, min=77.6ms, max=77.6ms
+  compile_aux_objects: mean=42.2ms, total=42.2ms, count=1, min=42.2ms, max=42.2ms
+  compile_aux_policy_objects: mean=42.2ms, total=42.2ms, count=1, min=42.2ms, max=42.2ms
+  scene_randomize: mean=2.3ms, total=41.2ms, count=18, min=1.1ms, max=8.9ms
+  scene_asset_install: mean=39.0ms, total=39.0ms, count=1, min=39.0ms, max=39.0ms
+  asset_install_grasps: mean=27.4ms, total=27.4ms, count=1, min=27.4ms, max=27.4ms
+  compile_robot_add: mean=16.3ms, total=16.3ms, count=1, min=16.3ms, max=16.3ms
+  asset_install_objects: mean=8.6ms, total=8.6ms, count=1, min=8.6ms, max=8.6ms
+  mj_forward_sync: mean=405.4us, total=7.3ms, count=18, min=0.3ms, max=0.5ms
+  asset_install_scene: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
+  policy_setup: mean=27.1us, 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]
+05/15 01:02:22 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/15 01:02:22 INFO: Success count: 10, Total count: 11	[pipeline.py: 1491]
+05/15 01:02:22 INFO: Success rate: 90.91%	[pipeline.py: 1492]
+05/15 01:02:30 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 01:02:46 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_305	[pipeline.py: 1174]
+05/15 01:02:46 INFO: [Worker 0] Batching and saving trajectory data for chunk_305 batch 1/3: 1 episodes	[pipeline.py: 238]
+05/15 01:02:46 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 01:02:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 01:02:57 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_305	[save_utils.py: 785]
+05/15 01:02:57 INFO: [Worker 0] Successfully saved trajectory data for chunk_305 in 11.07s (batch: 2.81s, save: 8.26s)	[pipeline.py: 300]
+05/15 01:02:58 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.43s:
+  episode_total: mean=156.98s, total=156.98s, count=1, min=156975.7ms, max=156975.7ms
+  sensor_polling: mean=379.4ms, total=113.81s, count=300, min=287.5ms, max=735.4ms
+  save_trajectories: mean=8.26s, total=8.26s, count=1, min=8261.9ms, max=8261.9ms
+  physics_step: mean=22.2ms, total=6.66s, count=300, min=17.3ms, max=32.2ms
+  save_batch_prep: mean=2.81s, total=2.81s, count=1, min=2813.0ms, max=2813.0ms
+  task_sampling: mean=425.0ms, total=425.0ms, count=1, min=425.0ms, max=425.0ms
+  task_specific_sample: mean=421.5ms, total=421.5ms, count=1, min=421.5ms, max=421.5ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=371.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=15.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 01:02:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 01:02:59 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 01:02:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 01:02:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:02:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:02:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:02:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:02:59 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 01:02:59 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 01:02:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 01:02:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.069m, effective arm-mount z=0.791m (base_body_z=-0.069m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 01:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 01:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 01:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.068770m	[env.py: 870]
+05/15 01:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 01:02:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 01:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 01:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -58.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.39818605 -0.38233245 -0.06876965] yaw=-121.5deg	[env.py: 1019]
+05/15 01:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 01:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.21177178 -0.81394075 -0.06876965] yaw=-168.4deg	[env.py: 1019]
+05/15 01:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 01:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 148.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.15962326 -1.17420214 -0.06876965] yaw=158.0deg	[env.py: 1019]
+05/15 01:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 01:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 01:02:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=124.1ms, total=124.1ms	[env.py: 1075]
+05/15 01:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.398, -0.382, -0.069)	[env.py: 1079]
+05/15 01:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -121.5 deg	[env.py: 1082]
+05/15 01:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.803m	[env.py: 1086]
+05/15 01:02:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:02:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:02:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:02:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:02:59 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 01:02:59 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/15 01:02:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
+05/15 01:02:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 01:02:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 01:02:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 01:03:01 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.751s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 01:03:01 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.499[m] 93.127[deg]	[grasp_sample.py: 539]
+05/15 01:03:01 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 01:03:01 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 01:03:01 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:03:02 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 01:03:35 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:03:41 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 01:03:44 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:04:16 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/15 01:04:16 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 01:04:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 01:04:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 01:04:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.062s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/15 01:04:16 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.580s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 01:04:16 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.114[m] 2.420[deg]	[grasp_sample.py: 539]
+05/15 01:04:16 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 01:04:17 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 01:04:17 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:04:25 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:04:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 01:04:35 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:04:45 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 01:05:03 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_305	[pipeline.py: 1174]
+05/15 01:05:03 INFO: [Worker 0] Batching and saving trajectory data for chunk_305 batch 1/3: 1 episodes	[pipeline.py: 238]
+05/15 01:05:03 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 01:05:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 01:05:15 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_305	[save_utils.py: 785]
+05/15 01:05:15 INFO: [Worker 0] Successfully saved trajectory data for chunk_305 in 11.91s (batch: 3.63s, save: 8.29s)	[pipeline.py: 300]
+05/15 01:05:15 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.35s:
+  episode_total: mean=136.49s, total=136.49s, count=1, min=136492.8ms, max=136492.8ms
+  sensor_polling: mean=319.6ms, total=95.88s, count=300, min=268.6ms, max=700.0ms
+  save_trajectories: mean=8.29s, total=8.29s, count=1, min=8288.3ms, max=8288.3ms
+  physics_step: mean=18.7ms, total=5.60s, count=300, min=13.8ms, max=25.1ms
+  save_batch_prep: mean=3.63s, total=3.63s, count=1, min=3626.5ms, max=3626.5ms
+  task_sampling: mean=352.0ms, total=352.0ms, count=1, min=352.0ms, max=352.0ms
+  task_specific_sample: mean=347.9ms, total=347.9ms, count=1, min=347.9ms, max=347.9ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=423.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=15.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 01:05:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 01:05:16 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 01:05:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 01:05:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:05:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:05:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:05:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:05:16 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 01:05:16 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 01:05:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 01:05:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.092m, effective arm-mount z=0.952m (base_body_z=0.092m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 01:05:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 01:05:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 01:05:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.092051m	[env.py: 870]
+05/15 01:05:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 01:05:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 01:05:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 01:05:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 92.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:05:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.26061386 -0.95010237  0.09205117] yaw=153.1deg	[env.py: 1019]
+05/15 01:05:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 01:05:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 109.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:05:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.40382596 -0.37045176  0.09205117] yaw=-150.7deg	[env.py: 1019]
+05/15 01:05:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 01:05:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.30501447 -0.01558437  0.09205117] yaw=-125.4deg	[env.py: 1019]
+05/15 01:05:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 01:05:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 01:05:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=158.6ms, total=158.7ms	[env.py: 1075]
+05/15 01:05:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.261, -0.950, 0.092)	[env.py: 1079]
+05/15 01:05:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 153.1 deg	[env.py: 1082]
+05/15 01:05:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.825m	[env.py: 1086]
+05/15 01:05:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:05:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:05:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:05:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:05:17 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 01:05:17 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/15 01:05:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.092s	[base_object_manipulation_planner_policy.py: 377]
+05/15 01:05:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 01:05:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 01:05:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.063s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 01:05:18 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.774s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 01:05:18 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.543[m] 87.640[deg]	[grasp_sample.py: 539]
+05/15 01:05:18 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 01:05:18 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 01:05:18 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:05:18 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 01:05:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:05:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:05:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:05:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:05:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:05:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:05:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:05:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:05:44 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 01:05:44 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 01:05:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 01:05:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 01:05:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 01:05:45 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.949s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 01:05:45 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.345[m] 49.310[deg]	[grasp_sample.py: 539]
+05/15 01:05:45 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 01:05:46 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 01:05:46 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:05:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:05:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:05:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:05:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:05:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:05:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:05:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:05:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:05:56 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 01:05:56 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 01:05:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 01:05:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 01:05:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 01:05:57 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.994s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 01:05:57 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.345[m] 49.310[deg]	[grasp_sample.py: 539]
+05/15 01:05:57 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 01:05:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 01:05:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:05:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:06:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:06:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:06:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:06:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:06:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:06:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:06:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:06:07 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 01:06:07 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 01:06:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 01:06:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 01:06:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 01:06:08 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.074s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 01:06:08 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.345[m] 49.310[deg]	[grasp_sample.py: 539]
+05/15 01:06:08 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 01:06:09 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 01:06:09 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:06:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:06:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:06:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:06:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:06:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:06:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:06:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:06:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:06:18 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 01:06:18 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/15 01:06:19 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/15 01:06:19 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=False episode_total=0.37s:
+  episode_total: mean=62.30s, total=62.30s, count=1, min=62301.9ms, max=62301.9ms
+  sensor_polling: mean=332.1ms, total=27.24s, count=82, min=272.3ms, max=636.2ms
+  physics_step: mean=16.3ms, total=1.34s, count=82, min=11.5ms, max=21.3ms
+  task_sampling: mean=366.0ms, total=366.0ms, count=1, min=366.0ms, max=366.0ms
+  task_specific_sample: mean=362.3ms, total=362.3ms, count=1, min=362.3ms, max=362.3ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=392.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 01:06:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 01:06:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 01:06:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 01:06:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:06:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:06:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:06:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:06:20 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 01:06:20 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 01:06:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 01:06:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.032m, effective arm-mount z=0.828m (base_body_z=-0.032m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 01:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 01:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 01:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.031965m	[env.py: 870]
+05/15 01:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 01:06:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 01:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 01:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 157.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 105.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.12389599 -0.46480692 -0.03196521] yaw=-134.2deg	[env.py: 1019]
+05/15 01:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 01:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.25934864 -1.19547785 -0.03196521] yaw=178.8deg	[env.py: 1019]
+05/15 01:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 01:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -72.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.13871144 -0.20982367 -0.03196521] yaw=-125.9deg	[env.py: 1019]
+05/15 01:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 01:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 01:06:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=206.2ms, total=206.2ms	[env.py: 1075]
+05/15 01:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.124, -0.465, -0.032)	[env.py: 1079]
+05/15 01:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -134.2 deg	[env.py: 1082]
+05/15 01:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.013m	[env.py: 1086]
+05/15 01:06:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:06:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:06:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:06:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:06:21 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 01:06:21 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/15 01:06:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s	[base_object_manipulation_planner_policy.py: 377]
+05/15 01:06:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 01:06:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 01:06:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 01:06:23 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.072s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 01:06:23 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.706[m] 116.033[deg]	[grasp_sample.py: 539]
+05/15 01:06:23 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 01:06:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 01:06:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:06:23 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 01:07:15 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:07:22 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 01:07:25 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:08:06 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 01:08:23 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_305	[pipeline.py: 1174]
+05/15 01:08:23 INFO: [Worker 0] Batching and saving trajectory data for chunk_305 batch 1/3: 1 episodes	[pipeline.py: 238]
+05/15 01:08:23 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 01:08:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 01:08:34 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_305	[save_utils.py: 785]
+05/15 01:08:34 INFO: [Worker 0] Successfully saved trajectory data for chunk_305 in 10.69s (batch: 2.56s, save: 8.13s)	[pipeline.py: 300]
+05/15 01:08:34 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.40s:
+  episode_total: mean=134.03s, total=134.03s, count=1, min=134028.1ms, max=134028.1ms
+  sensor_polling: mean=319.3ms, total=95.80s, count=300, min=271.9ms, max=732.0ms
+  save_trajectories: mean=8.13s, total=8.13s, count=1, min=8134.1ms, max=8134.1ms
+  physics_step: mean=18.9ms, total=5.68s, count=300, min=14.4ms, max=23.4ms
+  save_batch_prep: mean=2.56s, total=2.56s, count=1, min=2560.2ms, max=2560.2ms
+  task_sampling: mean=400.1ms, total=400.1ms, count=1, min=400.1ms, max=400.1ms
+  task_specific_sample: mean=396.6ms, total=396.6ms, count=1, min=396.6ms, max=396.6ms
+  scene_randomize: mean=1.6ms, total=1.6ms, count=1, min=1.6ms, max=1.6ms
+  mj_forward_sync: mean=419.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=12.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 01:08:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 01:08:35 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 01:08:35 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 01:08:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:08:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:08:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:08:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:08:35 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 01:08:35 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 01:08:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 01:08:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.059m, effective arm-mount z=0.919m (base_body_z=0.059m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 01:08:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 01:08:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 01:08:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.059326m	[env.py: 870]
+05/15 01:08:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 01:08:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 01:08:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 01:08:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.49215421 -0.14265791  0.05932556] yaw=-153.1deg	[env.py: 1019]
+05/15 01:08:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 01:08:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 71.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:08:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 75.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:08:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.22283085 -0.82120468  0.05932556] yaw=166.4deg	[env.py: 1019]
+05/15 01:08:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 01:08:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.33459737 -0.15162296  0.05932556] yaw=-112.8deg	[env.py: 1019]
+05/15 01:08:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 01:08:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 01:08:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=114.1ms, total=114.1ms	[env.py: 1075]
+05/15 01:08:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.492, -0.143, 0.059)	[env.py: 1079]
+05/15 01:08:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -153.1 deg	[env.py: 1082]
+05/15 01:08:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.890m	[env.py: 1086]
+05/15 01:08:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:08:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:08:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:08:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:08:36 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 01:08:36 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/15 01:08:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.088s	[base_object_manipulation_planner_policy.py: 377]
+05/15 01:08:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 01:08:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 01:08:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 01:08:38 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.436s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 01:08:38 INFO: [Worker 0] Feasible grasp found 124 (originally 9): w/ 0.725[m] 125.843[deg]	[grasp_sample.py: 539]
+05/15 01:08:38 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 01:08:39 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 01:08:39 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:08:39 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 01:09:32 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 01:09:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 01:09:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 01:09:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/15 01:09:33 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.594s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 01:09:33 INFO: [Worker 0] Feasible grasp found 124 (originally 9): w/ 0.121[m] 20.882[deg]	[grasp_sample.py: 539]
+05/15 01:09:33 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 01:09:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 01:09:33 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:09:41 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:09:48 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 01:09:51 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/15 01:09:51 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 01:09:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 01:09:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 01:09:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 72 non-colliding grasps	[grasp_sample.py: 465]
+05/15 01:09:51 INFO: [Worker 0] Feasibility-checked 72 grasps in 0.550s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 01:09:51 INFO: [Worker 0] Feasible grasp found 117 (originally 2): w/ 0.049[m] 20.570[deg]	[grasp_sample.py: 539]
+05/15 01:09:51 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 01:09:52 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 01:09:52 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:09:55 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:10:02 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 01:10:05 INFO: [Worker 0] Object is not in grasp! 0.00003 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/15 01:10:05 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 01:10:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 01:10:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 01:10:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 72 non-colliding grasps	[grasp_sample.py: 465]
+05/15 01:10:06 INFO: [Worker 0] Feasibility-checked 72 grasps in 0.610s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 01:10:06 INFO: [Worker 0] Feasible grasp found 117 (originally 2): w/ 0.049[m] 8.831[deg]	[grasp_sample.py: 539]
+05/15 01:10:06 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 01:10:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 01:10:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:10:10 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:10:17 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 01:10:20 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/15 01:10:20 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/15 01:10:20 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/15 01:10:20 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=False episode_total=0.34s:
+  episode_total: mean=105.10s, total=105.10s, count=1, min=105097.4ms, max=105097.4ms
+  sensor_polling: mean=317.2ms, total=92.63s, count=292, min=279.3ms, max=708.2ms
+  physics_step: mean=18.7ms, total=5.46s, count=292, min=13.3ms, max=28.9ms
+  task_sampling: mean=338.4ms, total=338.4ms, count=1, min=338.4ms, max=338.4ms
+  task_specific_sample: mean=334.8ms, total=334.8ms, count=1, min=334.8ms, max=334.8ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=397.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=14.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 01:10:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 01:10:22 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 01:10:22 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 01:10:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:10:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:10:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:10:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:10:22 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 01:10:22 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 01:10:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 01:10:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.031m, effective arm-mount z=0.829m (base_body_z=-0.031m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 01:10:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 01:10:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 01:10:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.030792m	[env.py: 870]
+05/15 01:10:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 01:10:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 01:10:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 01:10:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 114.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:10:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.29091907 -0.49213105 -0.03079215] yaw=-163.5deg	[env.py: 1019]
+05/15 01:10:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 01:10:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.13668163 -0.36753734 -0.03079215] yaw=-166.7deg	[env.py: 1019]
+05/15 01:10:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 01:10:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 121.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:10:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 71.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:10:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 01:10:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=494.7ms, total=494.8ms	[env.py: 1075]
+05/15 01:10:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.291, -0.492, -0.031)	[env.py: 1079]
+05/15 01:10:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -163.5 deg	[env.py: 1082]
+05/15 01:10:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.848m	[env.py: 1086]
+05/15 01:10:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:10:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:10:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:10:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:10:22 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 01:10:22 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/15 01:10:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.133s	[base_object_manipulation_planner_policy.py: 377]
+05/15 01:10:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 01:10:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 01:10:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 01:10:23 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.818s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 01:10:23 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.265[m] 74.305[deg]	[grasp_sample.py: 539]
+05/15 01:10:23 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 01:10:24 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 01:10:24 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:10:24 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 01:10:44 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:10:50 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 01:10:53 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:12:04 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 01:12:19 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_305	[pipeline.py: 1174]
+05/15 01:12:19 INFO: [Worker 0] Batching and saving trajectory data for chunk_305 batch 1/3: 1 episodes	[pipeline.py: 238]
+05/15 01:12:19 INFO: [Worker 0] Preparing episode data: 273 timesteps	[save_utils.py: 278]
+05/15 01:12:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 01:12:30 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_305	[save_utils.py: 785]
+05/15 01:12:30 INFO: [Worker 0] Successfully saved trajectory data for chunk_305 in 10.33s (batch: 2.90s, save: 7.43s)	[pipeline.py: 300]
+05/15 01:12:30 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.74s:
+  episode_total: mean=128.30s, total=128.30s, count=1, min=128300.4ms, max=128300.4ms
+  sensor_polling: mean=337.7ms, total=91.85s, count=272, min=286.8ms, max=775.1ms
+  save_trajectories: mean=7.43s, total=7.43s, count=1, min=7430.2ms, max=7430.2ms
+  physics_step: mean=19.6ms, total=5.34s, count=272, min=13.6ms, max=25.1ms
+  save_batch_prep: mean=2.90s, total=2.90s, count=1, min=2898.6ms, max=2898.6ms
+  task_sampling: mean=735.4ms, total=735.4ms, count=1, min=735.4ms, max=735.4ms
+  task_specific_sample: mean=732.4ms, total=732.4ms, count=1, min=732.4ms, max=732.4ms
+  scene_randomize: mean=1.1ms, total=1.1ms, count=1, min=1.1ms, max=1.1ms
+  mj_forward_sync: mean=399.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=18.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 01:12:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 01:12:31 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 01:12:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 01:12:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:12:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:12:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:12:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:12:31 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 01:12:31 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 01:12:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 01:12:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.043m, effective arm-mount z=0.903m (base_body_z=0.043m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 01:12:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 01:12:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 01:12:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.043157m	[env.py: 870]
+05/15 01:12:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 01:12:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 01:12:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 01:12:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 121.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:12:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -55.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:12:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -77.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:12:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -160.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:12:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.1994949  -1.00897147  0.04315709] yaw=161.5deg	[env.py: 1019]
+05/15 01:12:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 01:12:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 01:12:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=257.7ms, total=257.8ms	[env.py: 1075]
+05/15 01:12:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.199, -1.009, 0.043)	[env.py: 1079]
+05/15 01:12:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 161.5 deg	[env.py: 1082]
+05/15 01:12:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.896m	[env.py: 1086]
+05/15 01:12:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:12:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:12:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:12:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:12:32 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 01:12:32 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/15 01:12:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.112s	[base_object_manipulation_planner_policy.py: 377]
+05/15 01:12:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 01:12:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 01:12:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 01:12:33 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.058s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 01:12:33 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.553[m] 70.692[deg]	[grasp_sample.py: 539]
+05/15 01:12:33 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 01:12:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 01:12:33 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:13:09 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:13:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 01:13:19 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:14:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:14:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:14:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:14:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:14:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:14:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:14:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:14:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:14:11 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 01:14:11 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 01:14:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 01:14:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 01:14:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/15 01:14:12 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.639s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 01:14:12 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.053[m] 0.722[deg]	[grasp_sample.py: 539]
+05/15 01:14:12 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 01:14:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 01:14:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:14:22 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:14:29 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 01:14:31 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 01:14:48 INFO: [Worker 0] Saved videos eagerly for episode 13 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_305	[pipeline.py: 1174]
+05/15 01:14:48 INFO: [Worker 0] Batching and saving trajectory data for chunk_305 batch 1/3: 1 episodes	[pipeline.py: 238]
+05/15 01:14:48 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 01:14:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 01:14:59 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_305	[save_utils.py: 785]
+05/15 01:14:59 INFO: [Worker 0] Successfully saved trajectory data for chunk_305 in 11.06s (batch: 2.56s, save: 8.50s)	[pipeline.py: 300]
+05/15 01:14:59 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.49s:
+  episode_total: mean=148.26s, total=148.26s, count=1, min=148257.9ms, max=148257.9ms
+  sensor_polling: mean=320.4ms, total=96.11s, count=300, min=275.7ms, max=762.0ms
+  save_trajectories: mean=8.50s, total=8.50s, count=1, min=8500.3ms, max=8500.3ms
+  physics_step: mean=18.7ms, total=5.61s, count=300, min=11.9ms, max=23.6ms
+  save_batch_prep: mean=2.56s, total=2.56s, count=1, min=2562.9ms, max=2562.9ms
+  task_sampling: mean=492.7ms, total=492.7ms, count=1, min=492.7ms, max=492.7ms
+  task_specific_sample: mean=489.1ms, total=489.1ms, count=1, min=489.1ms, max=489.1ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=404.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=18.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 01:15:01 WARNING: [Worker 0] No trajectory data to save for chunk_305	[pipeline.py: 234]
+05/15 01:15:01 WARNING: [Worker 0] No trajectory data to save for chunk_305	[pipeline.py: 234]
+05/15 01:15:01 INFO: [Worker 0] Worker 0 completed house 1: 14/17 successful episodes	[pipeline.py: 1323]
+05/15 01:15:01 INFO: [Worker 0] [PROFILE] House 1 complete: 14/17 successful, 17 episodes, total_time=4813.08s
+  House averages:
+  episode_total: mean=145.51s, total=2619.23s, count=18, min=62301.9ms, max=196334.2ms
+  sensor_polling: mean=374.9ms, total=1896.31s, count=5058, min=268.6ms, max=862.4ms
+  save_trajectories: mean=8.68s, total=121.55s, count=14, min=7430.2ms, max=10158.1ms
+  physics_step: mean=21.6ms, total=109.32s, count=5058, min=11.5ms, max=63.9ms
+  save_batch_prep: mean=2.80s, total=39.22s, count=14, min=2539.2ms, max=3626.5ms
+  task_sampling: mean=662.9ms, total=11.93s, count=18, min=338.4ms, max=3349.6ms
+  task_specific_sample: mean=510.1ms, total=9.18s, count=18, min=334.8ms, max=833.9ms
+  scene_load: mean=2.68s, total=2.68s, count=1, min=2682.5ms, max=2682.5ms
+  scene_env_create: mean=1.71s, total=1.71s, count=1, min=1714.1ms, max=1714.1ms
+  scene_compile: mean=849.4ms, total=849.4ms, count=1, min=849.4ms, max=849.4ms
+  compile_mujoco: mean=627.8ms, total=627.8ms, count=1, min=627.8ms, max=627.8ms
+  compile_xml_load: mean=153.0ms, total=153.0ms, count=1, min=153.0ms, max=153.0ms
+  scene_init: mean=74.8ms, total=74.8ms, count=1, min=74.8ms, max=74.8ms
+  scene_asset_install: mean=43.9ms, total=43.9ms, count=1, min=43.9ms, max=43.9ms
+  compile_aux_objects: mean=42.3ms, total=42.3ms, count=1, min=42.3ms, max=42.3ms
+  compile_aux_policy_objects: mean=42.3ms, total=42.3ms, count=1, min=42.3ms, max=42.3ms
+  scene_randomize: mean=2.2ms, total=39.5ms, count=18, min=1.1ms, max=3.1ms
+  asset_install_grasps: mean=32.8ms, total=32.8ms, count=1, min=32.8ms, max=32.8ms
+  compile_robot_add: mean=16.3ms, total=16.3ms, count=1, min=16.3ms, max=16.3ms
+  asset_install_objects: mean=8.2ms, total=8.2ms, count=1, min=8.2ms, max=8.2ms
+  mj_forward_sync: mean=414.3us, total=7.5ms, count=18, min=0.3ms, max=0.6ms
+  asset_install_scene: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  policy_setup: mean=21.6us, 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]
+05/15 01:15:01 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/15 01:15:01 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 17 episodes, total_time=4813.08s
+  Worker averages:
+  episode_total: mean=145.51s, total=2619.23s, count=18, min=62301.9ms, max=196334.2ms
+  sensor_polling: mean=374.9ms, total=1896.31s, count=5058, min=268.6ms, max=862.4ms
+  save_trajectories: mean=8.68s, total=121.55s, count=14, min=7430.2ms, max=10158.1ms
+  physics_step: mean=21.6ms, total=109.32s, count=5058, min=11.5ms, max=63.9ms
+  save_batch_prep: mean=2.80s, total=39.22s, count=14, min=2539.2ms, max=3626.5ms
+  task_sampling: mean=662.9ms, total=11.93s, count=18, min=338.4ms, max=3349.6ms
+  task_specific_sample: mean=510.1ms, total=9.18s, count=18, min=334.8ms, max=833.9ms
+  scene_load: mean=2.68s, total=2.68s, count=1, min=2682.5ms, max=2682.5ms
+  scene_env_create: mean=1.71s, total=1.71s, count=1, min=1714.1ms, max=1714.1ms
+  scene_compile: mean=849.4ms, total=849.4ms, count=1, min=849.4ms, max=849.4ms
+  compile_mujoco: mean=627.8ms, total=627.8ms, count=1, min=627.8ms, max=627.8ms
+  compile_xml_load: mean=153.0ms, total=153.0ms, count=1, min=153.0ms, max=153.0ms
+  scene_init: mean=74.8ms, total=74.8ms, count=1, min=74.8ms, max=74.8ms
+  scene_asset_install: mean=43.9ms, total=43.9ms, count=1, min=43.9ms, max=43.9ms
+  compile_aux_objects: mean=42.3ms, total=42.3ms, count=1, min=42.3ms, max=42.3ms
+  compile_aux_policy_objects: mean=42.3ms, total=42.3ms, count=1, min=42.3ms, max=42.3ms
+  scene_randomize: mean=2.2ms, total=39.5ms, count=18, min=1.1ms, max=3.1ms
+  asset_install_grasps: mean=32.8ms, total=32.8ms, count=1, min=32.8ms, max=32.8ms
+  compile_robot_add: mean=16.3ms, total=16.3ms, count=1, min=16.3ms, max=16.3ms
+  asset_install_objects: mean=8.2ms, total=8.2ms, count=1, min=8.2ms, max=8.2ms
+  mj_forward_sync: mean=414.3us, total=7.5ms, count=18, min=0.3ms, max=0.6ms
+  asset_install_scene: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  policy_setup: mean=21.6us, 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]
+05/15 01:15:03 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/15 01:15:03 INFO: Success count: 14, Total count: 17	[pipeline.py: 1491]
+05/15 01:15:03 INFO: Success rate: 82.35%	[pipeline.py: 1492]
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