diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000003_exo_camera_1_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000003_exo_camera_1_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2d0ce17592ed89170bb0631de15da5a056969fea
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000003_exo_camera_1_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad85294da1c98ee8712dd23cd955416429e32d3ccfea03c3d714223ddb201a4f
+size 934771
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000003_exo_camera_1_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000003_exo_camera_1_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fc16de00767a844e1548ac16729e1596e9ca871b
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000003_exo_camera_1_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5b122d7792031445b4ee5c3778f2d591bc1dec4fcc51dcc84407fffc3b5c65cf
+size 767946
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000003_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000003_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c08bdcdf2c07542864a8d05347c38422cfb0744b
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000003_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a4f446598c4ddfd147056c7f4c3060511c329b0232e028c1bdf083c8ec734ebe
+size 810519
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000003_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000003_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3f4b175a3c1b954ee05017aee1118fae57f9f43f
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000003_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:911b21c4f022177b3f61d13a1c08848a7543080ca8b821a1d2a8d0df8831ebc2
+size 686195
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000003_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000003_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5ca0cccb88acb8f249b5a91d93b36a24ef7c008b
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000003_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:28c1a64d18a910aeefbe1f19adcad196daa631a5dca1db38238f914435d8849d
+size 804045
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000003_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000003_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..234f239dee5c4c62d7a5515724a4d9488bc30ca9
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000003_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca4beae822cae1340519ab2cdb400fc005e5ebf93cbf392c22fda4c86e6e8beb
+size 682824
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000003_wrist_camera_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000003_wrist_camera_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..390eab9e0d2b7755a07a773c8d9f6bc6215f6783
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000003_wrist_camera_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d3eb976706ca128c48e4b6199e2334f218aac2b9f5a6b3b14f33d93c553cce79
+size 816450
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000003_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000003_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5a2c5203390807ef3a4a8d20cb9da6d7207425f7
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000003_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9edd6800847357bcca1e39f4823490c14aef26ed0b2beb9576a55376d27277fe
+size 131701
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000003_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000003_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6401f4e364ae6bc92bb6fd3f78a9acbd50528f58
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000003_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:21c0f821bdc6a8151203432e460ebd1608750b8a43af943669230496cda817e7
+size 169277
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000003_wrist_camera_seg_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000003_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d516013bcb2a0ce25a1985f302c4be865e03219a
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000003_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ae16634c07e4edca272c89b1175e34616d6d7a420a46ad8c3b2da5f04c3863e
+size 493752
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000003_wrist_camera_seg_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000003_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fad30a6d63d289abeee29a0c40129d294ba88b82
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000003_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:511c83cd6ced1de5e1a53eb92e35cf4b23985cd127555e121cc6486161f9a0dd
+size 447727
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000004_exo_camera_1_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000004_exo_camera_1_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..987ae529be28fe82e5efa4974db9f88a9ec160b9
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000004_exo_camera_1_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0ccb59b3981e1a1cfb85d277dc0e90370e7b4638e4f93f385ea3b7f0a632b961
+size 998428
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000004_exo_camera_1_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000004_exo_camera_1_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9460bc6abae458e69c3aeb27cf7468449075f3b1
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000004_exo_camera_1_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f000d4f82fecfde7ea4c6a50263621d9ab00fd3a51547b11cbb731f90dea4f69
+size 681614
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000004_exo_camera_1_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000004_exo_camera_1_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7b404eb6c4199118f92ec5e6a4850e1b76fa1d05
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000004_exo_camera_1_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6a8c0061833a82b048935972737494b77b30afeafe1e1f9d0ecd8f834d24feeb
+size 872457
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000004_exo_camera_1_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000004_exo_camera_1_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..98e94dba11b21ab713080ad87645095fdb66cd36
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000004_exo_camera_1_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:51b8379ebc126262c1d5badf0e4ff2ca304a0e9f7658b88484de55fcaa8a4630
+size 582957
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000004_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000004_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3844189eedfc44f784ed8a1011b5a2af76e09183
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000004_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:331b805798636470b9219ce40fc14304afb33a3edca4f3b56a2d683646c6f0d2
+size 822966
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000004_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000004_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e4c8f3d2c434cf5d938c51356e975d3da89b0e49
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000004_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:623ed8b13e18e26b9dab612491bb52b7d091890a5fb6067a42102d3351b85688
+size 570824
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000004_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000004_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a7a4bb5bf3c3612075b100dddc5158c1ef00189c
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000004_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d0f6b7348c8e76d675660cd36cc97de3cbd276d58474eaaa1e3b1a98b5b3072
+size 755645
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000004_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000004_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c893edee8f692b406abbbc282b0b19474df68d2d
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000004_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0dfd307d768b117d8b59572addfa366bae9e1e594814473e6453dfca29245e3f
+size 465480
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000004_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000004_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..aa3ea2ef87c0f3f2995e1a7119f34bfd3c607c07
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000004_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6430ea09386e25c780f66fc1ba76dce12654a862aa4ccff40a48598227f96cc3
+size 591437
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000004_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000004_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6e76639bdd9baf03034d6aaa5508f90cbda040ca
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000004_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:195b42f80bb7cf67da55828395f588fbc914d5ba1b965e8c0c443bec84e984ab
+size 580492
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000004_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000004_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..899ab356d925923f78759b139a65ee12f751f098
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000004_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ddb8889d57160a25068ce8ddd9c34bc226a73d1721b64dcdae77c76e8de93473
+size 799372
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000004_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000004_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0f63c6e3d210dcc179b9497b7c145824c31b0fd9
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000004_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e090b1a464ef7e664eb62ed168de905d2e61a13c56f1c6f2802d957499f7487
+size 818685
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000004_wrist_camera_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000004_wrist_camera_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ccf19b9c77860a7cf8adb24fe36ef73de35e3004
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000004_wrist_camera_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e3c6486abb499a83c0a2da0fed10ad87aaa11465ab7be408ab85b38acdaa712
+size 666547
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000004_wrist_camera_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000004_wrist_camera_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e896c31ffd3fe0af060eeb01c6a4f732e793049d
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000004_wrist_camera_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:91b8e6b99e5e368c24dc5ac1b325fb129cf4bc70097546ff14000ee6c1d0542d
+size 639782
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000004_wrist_camera_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000004_wrist_camera_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e31eccbc1dd40866bf3ca474e9b8259edd26eca5
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000004_wrist_camera_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2590c8fe2009d33e25d24a3168599cd8e2ef53f8ea98394f959d01dae4443fb3
+size 689249
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000004_wrist_camera_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000004_wrist_camera_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d7eb8d918a6bc72cdb1e1297704ea7cabd5c75c9
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000004_wrist_camera_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d37916e0e8fb3a9c66d8094d62df2464c9791c6192fedb18b108c46f16d31ab
+size 616877
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000004_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000004_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..96aad1b83f9b4d899a387bf8ea847132f2a4c705
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000004_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9132f578891181e6df476e3fe9b5d208d4543b03d6cdbb437046a94112cdae08
+size 124814
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000004_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000004_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..22814a5dee190c1a27447f4a4743b3306e20738f
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000004_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d01c75fc47a97aa6f766673622dec8b12cd0e7da3c635c4934ed3b6fb0b44b0
+size 132658
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000004_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000004_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3ffed999201296ec7bc75e845a32cc6446786202
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000004_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:51d4b27962b1f2217de1377d9ce0c2ee72d9f60935337b64735c95d3182f1f07
+size 129197
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000004_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000004_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..94c8748d96b851b29aeb857b32036b212fa0205e
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000004_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e458aa77c2f0b6e41bed5a18f3c1f1c2651435f4478cca834e57e994b2146e17
+size 110987
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000004_wrist_camera_seg_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000004_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..291321090370b3b2be29af75f9bd2e7eeeb1208f
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000004_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:909ac3e26c57725bafae083e361733b9643b62fa58d52b4fcc1b3829003e78b0
+size 453427
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000004_wrist_camera_seg_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000004_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..dbc9ddbf66af3138ace049f8d0a45aa3a79ce6d1
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000004_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:07227f442986b7c0e7d9d4d658554d60d72b22ba9cb3df7611626fe6fd618ee6
+size 383583
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000004_wrist_camera_seg_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000004_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6ebb978c7d81922758b37a6d95f87f22cb432fb7
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000004_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e95c6b04d2d3e8b6a3b9f0df00ba6b0f5b79603357ae648950455854167c5c5b
+size 398500
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000004_wrist_camera_seg_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000004_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e04084a525a64d0c0cb69fa67428f7d5230aa7c4
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000004_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:485437dac1bbeb79077eaf547b83f623558e6242039467cfecd8c3c0eadab283
+size 287966
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000005_exo_camera_1_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000005_exo_camera_1_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8920ff2603fe5b62bd402e9e7b363a93ea11b432
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000005_exo_camera_1_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e97f34c868c1ceefa32ad05d3ff4835091e569af780b9dde7145d401c501dce2
+size 990478
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000005_exo_camera_1_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000005_exo_camera_1_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9a71cb7874a1ccbecad49ed4bee4ed53afdc73fd
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000005_exo_camera_1_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a3d462bb0c2e157863d9d6204550263d31dfd61b43ce395f66098e55c6f60da5
+size 871661
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000005_exo_camera_1_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000005_exo_camera_1_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..49954c4e86568f1f019709e272d9c7a3579e30ea
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000005_exo_camera_1_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f5f3f1021a87b209b3d54d8b49f3a47862eb1e7b27923198c30ea8b5417fb66
+size 556279
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000005_exo_camera_1_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000005_exo_camera_1_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7bf23c187cf8a815761523026745ff1736f49261
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000005_exo_camera_1_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d88d98a223b1b5586d2ced1d5309eeaa7dc46e1cbfbcd93459a2b591c5fe533c
+size 856497
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000005_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000005_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..218db476a80e461a170715f4cb07504b27712751
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000005_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:914ac14b6d2e339f8e9bbf141ed509ee9a36c3e93bb528f95f0e109149a377f6
+size 901540
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000005_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000005_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e8a07d2f5b51e83d14b63d185fd9cb600080d2c0
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000005_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4457a6ffda93c982ca7143ae5b59774f64ea928aa0852c021d6ee34cb3b118dc
+size 729667
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000005_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000005_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7a71f0e075b7dd59bf7f8cf457924bce4b444d3f
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000005_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa2ec913f2eb210313cd3b4b45afadce71107872c1ae1fe63c57351dcc65652a
+size 452046
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000005_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000005_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..17d3898d8ec4bb2d84d971a31fa02be206e3f280
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000005_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:80c7bcad201acf24db7e9c6cbfbbf705e14f5365340a06af6508a67521ab8a78
+size 718999
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000005_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000005_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d60e3069b217a91a2aa0fd1dcc7c4ab46b024b63
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000005_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f13651601bf321b0a1c501eae4236ee1b975af131ac3776057384010910997e0
+size 947308
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000005_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000005_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a8d6c61c2e67f31ea6395dc8dd662c748ae21030
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000005_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e8f9cbc91dd4d7efd133d8f4f26a7dad88d7dc47cd3cde6ee996eb8bfcc3f153
+size 671281
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000005_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000005_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d87569ac98c586d6ff336a621304ed978250c9b0
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000005_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b5a15942d373779e3617a8bbc0f725572722d56cf313554e68f8a0e0665e4bf
+size 560728
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000005_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000005_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e5e02d77ef5249af2713b0e3bd25f5b47a3cd11a
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000005_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:400a008889f0f60a45be4310e8518461b5c2e9c4361cf998a1334447c315222d
+size 561366
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000005_wrist_camera_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000005_wrist_camera_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e0533ca9da0f861945a3edc6110d49811efd32fb
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000005_wrist_camera_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d2e28eae0371d5cccd38fc97deffbaf35ce25af6487901a6d5b1191da2fc544f
+size 708617
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000005_wrist_camera_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000005_wrist_camera_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fa78840996bed8e06a57f2dd561bd248c4d103ad
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000005_wrist_camera_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac5aeae4b631bc5c5078797b4f3c5f0fd3951fa59b8fd44eee7b0e08fd817f95
+size 725556
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000005_wrist_camera_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000005_wrist_camera_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f5adfb93e2fcb87a174fd08d512125f5e5aec13d
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000005_wrist_camera_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:49d5dff9843eefb677ebc01a1a950bb98d2a30c755e41b130f13332343d32192
+size 664372
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000005_wrist_camera_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000005_wrist_camera_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bcd178402d335be6fc4aa0d5e15837e4ecf2b437
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000005_wrist_camera_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2270a852fd9c1695859142f09340cb334eaacde97e476a9b09561efeccdfc9b5
+size 657150
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000005_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000005_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..04fced0737d02845b66aa86dc9d743813f652f1f
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000005_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d0355ac8aef37fcf793d258c259d3a9fcdf9eefe545c8287e1ed6d389bc3bf01
+size 111215
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000005_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000005_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..77af9990a2bf2ddae8bff614295be47098c8582d
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000005_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f5a0fd7b84c1decfd8087f683731cf3ecb6970e2c1886993194a8bfd0653d07
+size 139427
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000005_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000005_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6680da81bdaacbcd7b9caa86fcd05a023a7b058f
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000005_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ed0359049c7e8e1e2f1048de45e64a2614a805a77603269b5b2de06e125bbdc
+size 142384
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000005_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000005_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2774460cb94c7e0d2912ea75c2f32ff17307718f
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000005_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:85596fdcc156932ebadf70a1a0a8702b5c2084df61b10cb973f84b82606df067
+size 128597
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000005_wrist_camera_seg_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000005_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..115b3a56428a7bc056025547bad59a2f48209494
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000005_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b3a881429ce29aa2f5a11e488c5674c14090e192c5b20cc01f02d96852b215d9
+size 443834
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000005_wrist_camera_seg_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000005_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..435a58284bd89883e1c5c39ce8c070a2311bbdbe
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000005_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db7a65c44c4aa86a17998edccf29a80a5a664468dc7ae6723f1e655c6182fbf1
+size 475236
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000005_wrist_camera_seg_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000005_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1b9dda092b516bbf0cf4fab1d94e6266b0122b1a
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000005_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:56debd2e50a676c4fab88f2d55e61547c1df8a367c814771c532d039f447d524
+size 433618
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000005_wrist_camera_seg_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000005_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..def47068d1230403f363d0a9566a4024a438b4f8
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000005_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a25cae80ef5c39de6118698336c55ba02379b87b94590d6c0309ab5a9821b18c
+size 432060
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000006_exo_camera_1_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000006_exo_camera_1_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ca32d14e1d95cf520b3e59ab018b718bcedc9946
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000006_exo_camera_1_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2edca61e14aa48f51cc3080b7ae1dc1cce2e986e8cb37bdce66ed630c59f9af3
+size 1117023
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000006_exo_camera_1_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000006_exo_camera_1_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..488b4e433e35c1a92df46c514fae6e185dbd46cc
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000006_exo_camera_1_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff12d79a2e49cd45df976c4c5b49e7a553f00de6a43d72459a0e38a3a3ba9e4d
+size 950888
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000006_exo_camera_1_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000006_exo_camera_1_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0a07bdf87e99bd32971b94b9e1777ab7250889ed
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000006_exo_camera_1_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dd3ff542edb5813c6c8ed7341f84c752dce4790429add7052daa457260e72e93
+size 749801
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000006_exo_camera_1_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000006_exo_camera_1_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..97477cedb7bc421b85514cb24f9cefb30f76dd10
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000006_exo_camera_1_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:43a6667f4ab632853657b2acae520f92e8c079bf7b864ad1e7ae3534f59fb3c7
+size 673329
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000006_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000006_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0163dca068a8e404cc500dac1bf601063ec3a53a
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000006_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:90861e8782af8b6ee74ea13a57d1f56172c757aeda30a5722cc141ea2c816c4f
+size 960001
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000006_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000006_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..07f119433c169940c80a275508ab5835375b7cbb
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000006_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4601ed1476653717641368e23b6c4a9261ad4a16c435d5d558911ac97bd35b89
+size 826195
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000006_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000006_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2709443e5a94bf0a1504fdfc4bf345a7e3e0f024
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000006_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e67f2919d48f534159d3705a389971df853c644a4b63397bf08787c223e5d8f5
+size 667431
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000006_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000006_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f96df28360a19e179e35c242a754dd698ff4af41
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000006_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e7f3e8c9cd887102d53f00ee8b5899c1b656351ada1720b4ec892ac625382d9
+size 551402
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000006_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000006_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c52a68b0bae484a8cfba090a840578bbba079c31
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000006_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4868c7f10585a51477f91aac7ebbfdfed0e22566079952236cf59cfca8dc7fdf
+size 776985
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000006_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000006_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..98d6c3c1e736ba643831b918e1f4e4a000ec929f
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000006_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dfe245c0c9700313b17d8625abef9002480a2b91e88c16c27d2e4b861b2f1425
+size 625616
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000006_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000006_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6e25e985fa2483df9f11bb01e7ffe2be72f60419
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000006_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7792be808d10dd3021b30d2877038406c5c92cf7a6fa502b110bee841c238885
+size 723745
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000006_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000006_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ad2762831866c66cb22b258fe84010f9c0c81e28
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000006_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:60397aae64f1d8d5920a714bc5d923f6d438293aa604fd5b7324e4f9c4bffa48
+size 593015
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000006_wrist_camera_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000006_wrist_camera_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..dc92c186bcd5a0864058fed21939e3d35d49bce4
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000006_wrist_camera_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e0f0535de77a6e7cdd374297b9b09b96705f8d331222d33282bd2fcc4d5f28a
+size 658124
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000006_wrist_camera_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000006_wrist_camera_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..dfeda5d811184036dbfbea9f8a3d1bfd58628687
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000006_wrist_camera_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c5180ace1028ee45d9c7e0c346366740ebfde6fb7e94f432ab15947ba52926c2
+size 673640
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000006_wrist_camera_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000006_wrist_camera_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ea8dd8671ee710c2e52e521d224b69bd303e340c
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000006_wrist_camera_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c8836ef4d9174b59bcd9a8351332c04511f1f847026ae540e4a4fd67a47121f
+size 743636
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000006_wrist_camera_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000006_wrist_camera_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b67a56796610c21e3b7fbfafc3c979aa137459a3
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000006_wrist_camera_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3626cf821acb1092a458fe092b6ac4aae9e0c156e38cf1bd5b8f4a27f2a20dfa
+size 756694
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000006_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000006_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..99447a26f2cfae54b823367c133c26a61ad064de
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000006_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1e80f12aacb825df5c759537d73ef33567274cd01b860db973ca31a5f0645a7e
+size 138975
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000006_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000006_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e503e45a469d60fccce392d1dc4e3bc74f8b4661
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000006_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7521019899b90195458382ac9e89b5e6609557c7dce412e4dd213b54c9c429eb
+size 135748
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000006_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000006_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f610efeff5abca7477af5189de21d122a2a8dd94
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000006_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a2c15399786968827318bfe508a44db4eca803f2aba57fac430dcfe1c15ded41
+size 136192
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000006_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000006_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f841e7b0c4bc31adc517e97bf8b636eda8e96784
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000006_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e75663f702a9bb2ba505c648ca25c12511acfd0328777083db09839c208c8de6
+size 180909
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000006_wrist_camera_seg_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000006_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..693e238b1c45f3167e269357df41234d4eaedd60
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000006_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:19b4c70ab4a48b1fff16236f151e455309470f45beb32e3918c359f195ad3e48
+size 414991
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000006_wrist_camera_seg_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000006_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..25581c8248ff5475c44e2ab550f4b11d73d09e3e
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000006_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee6cdcd09462cd8bd21579c25a2d9a36888c01694bfb121c18817b11b92ac860
+size 396110
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000006_wrist_camera_seg_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000006_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1347da7b2ee99f796b9bdb46d7a7add853bbd204
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000006_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e72b2e3ab31b2cd5134ec9454243b281a12f61dfde8c10f99749e69f36e7074
+size 398759
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000006_wrist_camera_seg_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000006_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..02bb6778f07eae850a183e073d709df39a7e791a
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000006_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2fa1ae950b9da0327f7e4c82f8e87887e06a3249bc8e66faf121789fb523f9ce
+size 427489
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000007_exo_camera_1_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000007_exo_camera_1_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8ff6c9d021b934e414250e8637f7ef66c5a05125
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000007_exo_camera_1_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2cb9823084e6c9554cf67ce5d60dafcbf023e4f3a60722c547efe38d2a3b4d9c
+size 700992
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000007_exo_camera_1_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000007_exo_camera_1_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..36410984a20122da1092a5e5a32e1d138d67b634
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000007_exo_camera_1_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d4443b6502aec4ee2ff8de3c9c2ce84db01f6514c5ec9c7048641b51b36e07c3
+size 873141
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000007_exo_camera_1_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000007_exo_camera_1_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ab9f97075519ac99711b9d4836cbf3c1c197a91f
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000007_exo_camera_1_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:598991c287b02817663c48802b0a16bd945f2bebab6b1bf5a82cc628f48c6ce8
+size 779905
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000007_exo_camera_1_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000007_exo_camera_1_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..256c94ebaf1daaccc123e08732263e0d6378eb40
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000007_exo_camera_1_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8320e4a13d30f2532a53f585a4b122ddbf933226cef437e2dfc967189f250a46
+size 1186810
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000007_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000007_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d64df16ec5acf4f5f85f6be845d1010c21254b11
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000007_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:47bd022db69d95723c96dba883ef5476ecbc993e4710bcff86d108f15f35c4e7
+size 571969
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000007_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000007_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4f7b135b489ce354b07e1f1df8f5c7dd5a73025c
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000007_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bfb54c5790f1238611c43e02a3ed0090e32f81172464b3bb8c9963318cc65967
+size 756116
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000007_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000007_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..821242607425c8ccd63722e93a15940a431efb3e
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000007_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c75ce13a65cdb38cb4c0aeb47e7e61ffebbc952afcc2b7a456a157b2938db138
+size 644074
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000007_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000007_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f6b31eefd194103173b0e81cef870aeb13bdd795
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000007_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cfee944c950ab25e319124e5b7badb8123e8430ee69dad1a95c77b1a671c2739
+size 1018304
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000007_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000007_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9eecd1906f8f70eaf3bf067635751a9be8e2cadd
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000007_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:67c5c03218a99b01560e1d67aab76458a9f3d9b5503890316cf936b9a9249358
+size 773890
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000007_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000007_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ee2c2491e461eeef091c32d4cb5c135d35568c4c
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000007_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df339ce10291d00710b1d5c4ad059b94e048abdf23593fe3f081b60f02b19d8a
+size 843597
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000007_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000007_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..aff5e7f62920416ea7e1e6f14377b422659787f6
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000007_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:92e031377a75d4cc5bf28152f4d521ec61ae661bfdc78e8dc8b720bbc5a247d1
+size 663963
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000007_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000007_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4789f77defefe46685487ade94d09104fb607a1f
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000007_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:950e3ede73de2c93004368ce54b4563daff4f53e8a9c0a7ac4f5ba229407980c
+size 733577
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000007_wrist_camera_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000007_wrist_camera_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8261526375b554f7d9c4638d62cb78b7daef6437
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000007_wrist_camera_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4857c7e542883ea2ae2e555cd76ab234dc95d993ffa8c900230ac52e8a634195
+size 622263
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000007_wrist_camera_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000007_wrist_camera_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2918e49e4fe11925c5c1a01d9c73aee5ffbe52a8
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000007_wrist_camera_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:907b8911f8b7768485383e1d2bd6e1012127aeb47910ad21debff64bc06d4c39
+size 620467
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000007_wrist_camera_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000007_wrist_camera_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d29a9e8bf7cfdba79e66ed050b869de1ff7cf416
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000007_wrist_camera_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6f776e527a7890ba14e7fd8b41006b4ccfc04b7c9533301c73ace569689b80cb
+size 653322
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000007_wrist_camera_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000007_wrist_camera_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..25085a225f8769704ede00c9b962ba017e1e71d4
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000007_wrist_camera_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:924dd71aa6e3821bf093a9752929c6f1ad05ba307f6038b916eb8ae587f2d3a2
+size 664432
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000007_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000007_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2e1eb19dc3b89b4c0c76f17d655b4e773593c5d5
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000007_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:727c2ee506b4381b8731d83715a2e5d5218d006b29bc99f83f4a361a5954e879
+size 135377
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000007_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000007_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f33610728f90d68ac082e16ac9fc55a402fde28a
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000007_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1f143a17bef03b69587d9a27dc839d662aa5b75db0348f7263aad82bb6e66826
+size 103871
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000007_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000007_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a9b1e3ab29d7ec936dda0745d594d047ba0313da
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000007_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6789788dc6bf558395460e4ce5964d91af5140c413edcd029e2faa8b93ce2efa
+size 140933
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000007_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000007_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ea49e2661542c6f1231ed6dcdcb06950241c808f
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000007_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9292d7ba7b5becc317fc28242b1c21ae63b099cef40c7edb51cab1830264ba76
+size 103054
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000007_wrist_camera_seg_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000007_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..605d7effa04a74f10723552e6382d37cf542fc4a
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000007_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3c1396851b92bccb8f4f6e64a97028b671cf5bd230521b5c9047b368e8095ae1
+size 285976
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000007_wrist_camera_seg_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000007_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..24084eaa329fcea95beb4af132473b5617f9b20f
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000007_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2cd2fdcf090fdf03b78334b1e5465cfb01fef829d9fd2ab2f515f62302f9fd6b
+size 408108
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000007_wrist_camera_seg_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000007_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bc6512d3e1f7a30e87712bf976a0dcce724cac43
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000007_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:74cf94aa22cb08c85906a5b5523989aed64c850b4de05391d37d71baaca8a173
+size 406427
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000007_wrist_camera_seg_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000007_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..64d913fbcd3739e2ca606e397a04523a09871552
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000007_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0dbc42d673f95f88b07151075ba41bdf398747d8bca272a7cf4e540f6872c8c3
+size 469997
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000008_exo_camera_1_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000008_exo_camera_1_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d4f2069953cab3be6c52cb6a16e15b6587affdcb
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000008_exo_camera_1_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d5a1dff9e9f89ed26db251a7069e759dc6c685a2736e670ec33abae5422567c2
+size 737214
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000008_exo_camera_1_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000008_exo_camera_1_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d1e9fdfd6bb2a9c9300e4bc332d83f74db176bfd
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000008_exo_camera_1_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:83e0f8339b0e94acdb397f244eadd096498444e7954889589aa04999426cbe95
+size 671121
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000008_exo_camera_1_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000008_exo_camera_1_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8585805b14261e7241da92793d1cd3d8956ebaa3
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000008_exo_camera_1_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d0e97fc6a5fe4a9f9ad428db28276ad64e0fcc7eb329009a3b5601c3789dddb
+size 962303
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000008_exo_camera_1_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000008_exo_camera_1_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..615d93b0a4b68c1bf3afc6f8e4435bea6bfdfd38
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000008_exo_camera_1_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e3d197b95cc02f268a319950e676e25a8b7ef55e5474ddb4d44f3d3ce5a3b26f
+size 751214
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000008_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000008_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..dafa2ac7cb133ce4179824181c248c952983a73c
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000008_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d2943cf8bca802ef5ac497e1d6461da36ac53614fa58883f431321e1e6f706aa
+size 613318
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000008_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000008_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..efba38df7f17242ad5e293151ed6784a0789175d
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000008_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:598a7134756ffb083493907df12807c86feb4cd28ddfc90c31cf5264ed027d16
+size 567697
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000008_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000008_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ae753646b565e69b08a889adb2cd27d4a1060d71
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000008_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8d12bed0c819b3607bfa437dd2b147555a8580a220fd2e3c53178cb2ce60ca6e
+size 850001
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000008_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000008_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f934d3cce766888e789f3b7c936358f94679ccfe
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000008_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7db3e261d668ded4d881418bae2c216e983db21bafafef98cc8fb5fa9a6f7287
+size 619970
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000008_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000008_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9925f81756d24255bbc51b06d610b0ef87730fd8
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000008_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:00379c9828d8920b6d9f6f4f7ddc35f1313315d6f5100ee9926a25d8bf2dc51e
+size 654948
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000008_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000008_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..14f8fbf11cebbee0a500680e358a92b46af53fcc
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000008_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f3fa6afc704451001ccd5e08aeb5a54f2c32599b05bcc22bc044cadc20ed7ab1
+size 657740
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000008_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000008_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..646e91b99d8483677ba9ab8d96e09ebbd77c336e
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000008_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d04c471bb590c937edb43a47c4981aa48f3c068acb14306071467952504f7147
+size 961900
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000008_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000008_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c4474395a1dd926bb04306b4007b241dfe1cc989
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000008_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:981403d39e3be7be942c040b40b4c0e06f3d48c787ad66a814aed2b3aea6031d
+size 527657
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000008_wrist_camera_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000008_wrist_camera_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..72c2139727c280f3699676e4be274f24188a7f39
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000008_wrist_camera_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:abaec6b86bb01299bef0006be64339219aac93958a1687e728071d40008a815c
+size 684159
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000008_wrist_camera_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000008_wrist_camera_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2bb6245d71b60bd214c58c91c601adee7cd4cbd7
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000008_wrist_camera_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ebb631186f9c2aa5476bd42e2e99313619cd7fa7743765ac9c766e14ffda7af1
+size 794103
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000008_wrist_camera_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000008_wrist_camera_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..af8a3405bb7f0614b8501dbc981c494801bb9870
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000008_wrist_camera_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:81b22dd54924c24d13cf0918cdd36a3e7de9203ab90a95121fc54e04c580e2c7
+size 604872
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000008_wrist_camera_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000008_wrist_camera_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6a1c4ce9462032889fec739a19638d6336936b16
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000008_wrist_camera_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:be33dcffa302787593969ad9cbf3c7829ea4c1281e9a58d538f444e7ab0c94c3
+size 672951
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000008_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000008_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cf77f72be1c5f353ffaffcebd0f98722d664d5f0
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000008_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af9a422531066262483209c33c350d81bf5845fc38a9dbc311dc4a6e4ed4b755
+size 173603
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000008_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000008_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d1937da89131e540013c47af621a091e46daa318
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000008_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:929a8a968c9f65c87b052914a69a4ee278cb119a4da3afa0bdeb5069cb203ec0
+size 166743
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000008_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000008_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c75c4d05959093fd12348194f625fee7b4d34840
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000008_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f8799d45aed2ff0393e744cec1ca18d9602655eb7b86db2048170098c16a7f40
+size 96135
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000008_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000008_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d8a23380f08c866c0130dbecbac09fe656a06460
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000008_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed241e1d21edc599b22145dca4317e7794d69050219546ed10044565348dfcb1
+size 144515
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000008_wrist_camera_seg_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000008_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7793020d8a3cd9842c9a4b13aa8a468e6d929425
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000008_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f6867fb01713af66a8bcac5abd5466f7c4ed4e4bdf23a1242f6dd334a60f37a
+size 431892
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000008_wrist_camera_seg_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000008_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..90c993bbe06edf756a6104392f8529f96134b435
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000008_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9d9771760718ffc5ddd3716eec9f1ab014c54d67ba178003f6ecd70a9cb84605
+size 383455
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000008_wrist_camera_seg_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000008_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e5c6626f24a23d61e0cca41a5685b9ed7b31fd62
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000008_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c38fe3697a0d8e98088addfd190e199728844028a9d017e8f40f6be76c31bce
+size 394373
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000008_wrist_camera_seg_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000008_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6de81dac5dc51797cbb5dc3e732466706dc4d315
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000008_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:13df1b8af9c5d8a612293dcdf1b71d97985d4220889ed3ddf1d25ce2042eb8b9
+size 431730
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000009_exo_camera_1_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000009_exo_camera_1_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..04ddb042b35a5c0b3a92fc622a0bca8bef73775a
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000009_exo_camera_1_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b3a1888a6136efa56a6c5b5d43decab4daa8e13d88e5013f6766fbfb1a82fdf
+size 717298
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000009_exo_camera_1_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000009_exo_camera_1_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9bdab294cb30e7a02ab33f63699a10bc1bffb8b8
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000009_exo_camera_1_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e261b5644b428d9eefc129d23d9948b24fc744f2740f5bc089ee0024f514135c
+size 675158
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000009_exo_camera_1_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000009_exo_camera_1_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5d6587a195a302bec57bdc2d69624d8e96bb6213
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000009_exo_camera_1_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:48d95271716fa82e058b40ca33c1633beaf88dcb71c64497bb8143f9eeca2567
+size 789624
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000009_exo_camera_1_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000009_exo_camera_1_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1996c132487d807a6e8478c657fea95021e7cb50
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000009_exo_camera_1_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:47e413508d759e3a008f0578d00e5f60965fbd9fd0c92691cbe270bb9e8f2bdc
+size 573330
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000009_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000009_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7a25ce3358438e7c21c9966e969db41b53e0e041
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000009_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e5b24f69239e6edd77c35e0881c23a6fa207f02c4e0f96499821fe383287faf2
+size 560920
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000009_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000009_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9c4b1b2bf7fbb69cdf00d37b3edbd0c28617331b
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000009_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a645267af36151eba15634319d2b600817207877d5b7b3464de27ead131b5058
+size 537322
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000009_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000009_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..198c3e265f38edb98817048d2d0a76ecb32ce76c
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000009_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:69df9dd4839e9e2a21e7a509125f443c63d5e5ecacb9ca4b372e1a9586bfa109
+size 690779
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000009_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000009_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..90f0bb89cce8f07b16271d1c39f7201802aa83fe
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000009_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3c6bb777d9825fe635a5eb44580dccd1e245b5bf47d8315591d2ba291dcfe18a
+size 444118
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000009_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000009_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..eea7bb49bf05a8ef71fb349dee9b5ef6bc0000ce
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000009_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb02468b97e80d69c7d306c401c198cf80ebe3a73f5eb1e02f5eec8090fc322d
+size 800311
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000009_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000009_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a44cfafa56a10d3532d80ec3af5185a53dd90c4e
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000009_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df4bd7df1d392266b4ea5a2d85c74a231593f202d9131cfa5f2b46a9719f1526
+size 665897
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000009_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000009_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..223901e3751a5ec5077123ef2f9ddccba48bc87c
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000009_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:66c642693585199389e5bf1967785b914ea66319adfff54a8d5f4fa8a0a5d82e
+size 914549
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000009_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000009_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e6f957fce5d592ff0ba48e35cf991dbc6128dd63
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000009_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:33d49b816c13fbe7dc08cf8b89597359f885e438d249976af0ff892be5148f5b
+size 528411
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000009_wrist_camera_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000009_wrist_camera_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..084b97baa93009a34b7fc6b1952e322eba96b0f9
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000009_wrist_camera_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:afac5df0e89dfde55b30e950602ad8245812580d7c41556d1d01b3463aeaafd0
+size 566803
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000009_wrist_camera_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000009_wrist_camera_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5b6ccad3bf8566310390663df719d88b4680eae3
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000009_wrist_camera_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:34dc01ce55717e4c162858f6481b42e1b75e3d1d04b2ad9ca343596abc57393b
+size 621039
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000009_wrist_camera_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000009_wrist_camera_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..14f330f54674ec56d5240b531f0330de4230bd62
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000009_wrist_camera_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f87202253edf130bc831bbfe76ef48055389e20f6791102c3479f6d778b45a26
+size 781232
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000009_wrist_camera_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000009_wrist_camera_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ddd98c2452437aca006030b019fa651526f7a120
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000009_wrist_camera_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3c6655a73271fcc169c353866d429636eb776c8fa03a47a0afb929183ef474cb
+size 719244
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000009_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000009_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..40de8087dc200b59709df6a11dce19e6a69a1c9f
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000009_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:559bda6a0d7de497185d3079d3686ef44d5500a5474a27c2793993c5b57df2ae
+size 97813
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000009_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000009_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2496b1ad5e3f417406ee0d59d15d4858dbae7639
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000009_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a3ec7f07b1276d73a91022aa04f26d8a5ebb87618e18fc6643245fa7c5128be1
+size 120414
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000009_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000009_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..71858e53655ac3d9a7e6c75e1f93d41affbcf163
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000009_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8419122486560f5e7ea7b711bd42c407aedfaaab3dae931f5d7c0be8e54807bb
+size 163803
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000009_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000009_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9859d9c6fdc20ff0a397256953a0eca71a24f114
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000009_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:18fa8a96103a29f40991a257650bced27d04074c939041a2c6ed85b8451a8689
+size 191958
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000009_wrist_camera_seg_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000009_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..928e8b0721c2dbd0173b2f1a3cc991d15ce28636
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000009_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e651dcc2ab398cb9d655420ee2badbef55f15131f64de0d5cf7f9187d92bb85f
+size 447137
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000009_wrist_camera_seg_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000009_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..82f48fd8c22c798fd51376d8e0fe5b70fe25d8fe
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000009_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f4ed22ccfb502cd0502416ddfdd6bc36828f64e097307d51ab2dbf4ec0fcfa89
+size 431919
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000009_wrist_camera_seg_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000009_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9f0975c58c1be223a9b0caf96a60553e8af750e2
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000009_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca4dd9bc37056c56c844e4a391f6a46924e65fb3f3f90fb3eb3d9e4e4396996d
+size 508321
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000009_wrist_camera_seg_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000009_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f19cef9d2410f9c9bf286cead76b032aff411108
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000009_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:19b650c78977540102b0cc890a272de241eaec06f904108618fc17870d3c2492
+size 407446
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000010_exo_camera_1_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000010_exo_camera_1_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..32778d27b33523278041a307d0d6c94e11e8aff6
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000010_exo_camera_1_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9cd9d434d4a16654834fb3e9439edf9a6cd81c3f510bf5314af54654b510b939
+size 754349
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000010_exo_camera_1_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000010_exo_camera_1_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5120cffc63b2f89ce9811de6df289640be255dc0
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000010_exo_camera_1_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:50531ca0f27d6014d0aed9e01dc39a9c27db6c1ba5e5d5bc1f8f6a8e1bf6c810
+size 854535
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000010_exo_camera_1_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000010_exo_camera_1_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5d7b204bd0eb5f4430e1c6c48e4f6e76d74c4884
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000010_exo_camera_1_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:98b39d54c286663dbf0cefd9a75dd646eb1cd47cab1465df4aeefbc43be211a9
+size 1017639
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000010_exo_camera_1_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000010_exo_camera_1_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..05202f2e5482ae7af8df4870b550b142603b08bb
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000010_exo_camera_1_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f5d348ceca541b8ffedfcfe056e8bb0695db63417ce90e0b788185cc4c5b19f
+size 663267
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000010_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000010_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..db860ed12808b6705d16a8d68c3e45ce34e6383e
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000010_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8da7c37830efb712685cfa075a36228c064dd876605855165a3e754c16167437
+size 594926
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000010_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000010_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..deab6a755636e39c58cc3fb18d6aaa3d40a48dd0
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000010_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db69ec036f42ef1c52e6538f0456ce23990f028a634a2683e8be66f5e8985b26
+size 724077
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000010_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000010_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bd0be2b3759ddd55a69e92463afdba4a9d222d4b
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000010_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:12b387f9f06ba2a5953fd940cf63dc7ddfe467be111aebe1bb2286685ac851d2
+size 858088
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000010_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000010_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3dc4888df7b6b385e97766eb454a457a6cb8c554
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000010_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c0ee0b6a04eab8c27cd8ff6a7730b16010019ab071423e60a136c26372fd0519
+size 576179
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000010_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000010_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0c46877c0d6b15e5b655fb140c70d1bdcb7bd1a3
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000010_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0b92b0903091bf3510bd79b44b42592a7c3b199af28ee28a24e3ca1bd27f2490
+size 790132
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000010_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000010_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e43db52de0e1e1e55bf801b078c33ae98ea87418
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000010_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ae1333eea26890c91e6c47ca07db33c3f1c15e30953da51047515671d7cc42e
+size 571477
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000010_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000010_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4d315570cb59d331b6a1e9462b3a3bcdca8a8f5f
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000010_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb74e3a9b93f15e3b142e0674a73f12b090884a40aa930fbaeeaafd08c049c4f
+size 698264
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000010_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000010_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a649219eff2b0086f09ebf791afa1b866c9af752
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000010_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a4403bfe2a645fc82a1cbcb77c0fe06040f1eecee10faf5524a73ff6d44f84c
+size 538735
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000010_wrist_camera_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000010_wrist_camera_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c5af20a3e614eae6a7f6ae84fa3a8dd32acf068f
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000010_wrist_camera_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:504e415bfac217c60dd5c05942938dfac816109404f2f9e8baeabf50d89fd6a9
+size 736452
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000010_wrist_camera_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000010_wrist_camera_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c52d6610a5dc5be8bc3de692becfd17e205d5248
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000010_wrist_camera_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:14bfa9cd039dda146abbb8e75827017a32f76480c275f19b7eb4f2338b328274
+size 662284
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000010_wrist_camera_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000010_wrist_camera_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1e79d82ad60d420ea64b94c9c8a47ce90b990050
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000010_wrist_camera_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c44a6cafe7277f6745626ca318b60acf17937ee8499370707afe098f3888b444
+size 722352
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000010_wrist_camera_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000010_wrist_camera_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..22ba300dabb5ac4d7c87b6a83e7684afceab24e0
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000010_wrist_camera_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a80431445f1cc092d189761dabc9164c86438251307add6f0f5a00fb31bc7ed
+size 750947
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000010_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000010_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d3f1a05c5bd0e7a3bd50f1eb4884b66d202be430
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000010_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b3883be114a7e39d5309da3b56b8e8da13ca62c0d37a0e86826f8106ae6c78b5
+size 144139
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000010_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000010_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..437e9fb9e8fa380c4774fa4275faedb180e003fb
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000010_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fdd07c1a6716909bd4a0ed5630171ba10e033c0b3c7f13f7afbf64451051555a
+size 148480
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000010_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000010_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..56450fe2070fc7308fd8ba134ab9771d3d7d567a
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000010_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c4eebba427704e3407ab285eef397cf574822ada3be33e492d797cd2adbfab3
+size 122386
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000010_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000010_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9e1a93be38b48f0046f6e29f60431c5896da2776
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000010_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca27c906b46e863d9dde62d86f5f97e78fbb021a92677166863b20b05794745c
+size 150408
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000010_wrist_camera_seg_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000010_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fe1d27fc4fbe0b4f9f94fa7bc1bad6effe615c24
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000010_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:77b6386a410931381fff1d9dda80be758710c9dca637014e624c1ff74c7481e9
+size 369680
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000010_wrist_camera_seg_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000010_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4d36a55115d18dbf2c65ebd94308bb7f132d1306
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000010_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:50c1c34db6266ad82dc270be7920602517748bd38bbe2cbeba8aeba500b8fd1a
+size 407287
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000010_wrist_camera_seg_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000010_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fa5208b132616bc2335a46c557c6f5824d970e76
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000010_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6cc6dbf52076a8684ab25a292e8496fa0ba240c9eacdad08dd01cba51da55d04
+size 512691
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000010_wrist_camera_seg_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000010_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cc5b35853bf7c10a86c083bab1d19311cdd928de
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000010_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45b2eb2e386c6acd5f524d0748f4c9c40d65576585794414d26da601b0ec469e
+size 372906
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000011_exo_camera_1_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000011_exo_camera_1_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a5e7c20189fa0ac840c8c4b085de96e4032e5d39
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000011_exo_camera_1_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1bdd4810308f69c08e22f39f0d7324fb69e80308fd0cdd69979eafbb76e52bac
+size 594330
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000011_exo_camera_1_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000011_exo_camera_1_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..04bac1627cf9943bd43cf4d97c7f05d974b6cfe7
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000011_exo_camera_1_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9973c3288ffc7bc3a5d111311b205e454d9d2c596294ed5e46a8f39f0b0837db
+size 906680
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000011_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000011_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..08037b9cbcfc18a48a9a7864c09d85566abb7e61
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000011_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c7e0c09b4d658d01d92ff4ba333e814314f52904cda68ea92a1158eec17781a3
+size 465800
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000011_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000011_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..949d914a41e47934c73237e8712ad4ac7b9530ca
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000011_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a3489b9d259ab9db966939320949e3d08bcfcde65cf8ce2f4198f558ae8557af
+size 773342
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000011_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000011_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fa3ebf2e3156a849fba7b6900e23bdeef97e1551
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000011_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:56a96d0ad9574cd40c771ccc212e1783ef09c786cede5166ef509bdfafd0bf5e
+size 626089
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000011_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000011_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7f9555cea28e78bfcca64c81a14f06733170d3cf
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000011_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:680df582b6b5f66a2f028c58c382972a919408d61e4b59768692fb05d3373b3d
+size 895062
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000011_wrist_camera_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000011_wrist_camera_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2be98806d6a2acebdc5877477caab8a6a6e262c7
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000011_wrist_camera_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:934464edd2619e318378c9da6cb0f04268c3865eaa6c2514620d5c121a065355
+size 637954
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000011_wrist_camera_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000011_wrist_camera_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..66a2189c4d722a4f8cd33752e3df4f17c63c364f
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000011_wrist_camera_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d1ced2deebcca53998dc71c0eea9239a74ccfd53820080d85b3001481d78b707
+size 688408
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000011_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000011_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..35b38ddf6a9f04817d99ff4217375dd8076b08a1
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000011_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b31022597cb5b7a06ab807d48239a1a4bea4344fd03eb7f667020f6c3b3f69d8
+size 120829
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000011_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000011_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f014a431b51e6e41bca0e5aa95f6b483caeb4620
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000011_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:84a994e48b57d481434fdfdd314ee13bc4d8ff1e31dd19583dd17dbf37060118
+size 129209
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000011_wrist_camera_seg_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000011_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..935e0b3b2695b8e3061386c0647516516820828d
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000011_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dbc40a926aa73a8706725911841977eb80984cedc0ef13133d1fb9b16c875061
+size 373860
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000011_wrist_camera_seg_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000011_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6106aee8e32cee1424b8038a97b729493a61af4d
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000011_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d0a0f47c7830a393032f4d969e1e7dc82453d74e27e78ed8090641784374f4c5
+size 406666
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000012_exo_camera_1_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000012_exo_camera_1_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..17bb6f0f3f1e363b6d94c17fc66aa305e5eaf452
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000012_exo_camera_1_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:06fb64a80523a33a95b451aab323c7b900dd3245a115bb777bf21f7486be8c02
+size 788094
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000012_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000012_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bbdc044caaaea1ba53b194057c344ac73996560b
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000012_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae7630543cf109be2eed3cd18398c90d0582e9acd68d5bd328f05423a1ab411d
+size 671748
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000012_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000012_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..13aed2bd7335e794a3958a1dd7f5b8a64f0f2f27
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000012_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3994616d78a9462d9e7e573579fc8634b913a993097342cf355a374e59fe7e2a
+size 666906
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000012_wrist_camera_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000012_wrist_camera_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..50f124da792f8f2ba99d49010162ada45e2c3fc5
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000012_wrist_camera_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb1d9d61048ab408b228e309e1e42eca5bbb70fb69173b920845da795b60c09c
+size 634007
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000012_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000012_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2b1104400636ad7ad94bf9f49b57c39c78163088
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000012_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ada9e8de952b707e2b538d101f32827a3741f640949307c1537b2345697df536
+size 135322
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000012_wrist_camera_seg_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000012_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fa96d28ea4d775f0b38c54242ad357267316bb83
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000012_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:edfee561bedc0d713b3cda9f0617827425dec7f641126f0b71131b8d1b540020
+size 392827
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000013_exo_camera_1_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000013_exo_camera_1_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..02401ffa63b213225cce6b8b9681ff600c3313b9
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000013_exo_camera_1_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ce34696268124532e4411fe8fffeca10fae5d69f38acf10bb091712f47724a2
+size 818722
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000013_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000013_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f9ae8c34f18fb48575e76209ff053ed7231831ce
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000013_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3b372f53a3b5c2d93b10bcc29cde1f22aaaf74be28159439c5e27732247c70b6
+size 735296
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000013_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000013_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a9eb7f4c51ec28c4e5e05cfbf0052a8300cdbc03
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000013_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3eddfbb65c9163cd783a14bf3e6cc7d4a3b527f01a0b049885958f1995bf3976
+size 596581
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000013_wrist_camera_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000013_wrist_camera_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e28b6f6be011f5694a9f9e75f0f4f165d10ceed0
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000013_wrist_camera_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:39f3d6d9fc61de105d41f4539f02d294ac6de026f21aba12a33c53264aa4a923
+size 597051
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000013_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000013_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3cdf8374c8f7134d9b2ee9607588816fae9366e1
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000013_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d38b1e4feda3de4496fccb6a1aea7e0e0fb828614a6ce7477bd51de7c688784b
+size 97248
diff --git a/fridge_m_0.7_pd/chunk_003/episode_00000013_wrist_camera_seg_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_003/episode_00000013_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a86c9d481e6a98b2043bfd49385dec26caab5dc0
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_003/episode_00000013_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d5af30ef1b52814cf12a27fff79274091ad1e626e2de40c9de14272271598e4e
+size 370580
diff --git a/fridge_m_0.7_pd/chunk_003/running_log.log b/fridge_m_0.7_pd/chunk_003/running_log.log
index e63382d78f883153ec7702b2a85f5374e902a137..14ea70ada90ebbe391da8a36c7451ec05a0f109f 100644
--- a/fridge_m_0.7_pd/chunk_003/running_log.log
+++ b/fridge_m_0.7_pd/chunk_003/running_log.log
@@ -2393,3 +2393,3674 @@
 05/12 02:44:17 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
 05/12 02:44:23 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
 05/12 02:44:27 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 02:44:44 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_003	[pipeline.py: 1174]
+05/12 02:44:44 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/12 02:44:44 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 02:44:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 02:44:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 02:44:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 02:44:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 02:44:58 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 02:45:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 02:45:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 02:45:00 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_003	[save_utils.py: 785]
+05/12 02:45:00 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 16.57s (batch: 5.27s, save: 11.30s)	[pipeline.py: 300]
+05/12 02:45:01 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.55s:
+  episode_total: mean=193.73s, total=193.73s, count=1, min=193725.6ms, max=193725.6ms
+  sensor_polling: mean=454.7ms, total=136.42s, count=300, min=397.1ms, max=832.2ms
+  save_trajectories: mean=11.30s, total=11.30s, count=1, min=11299.5ms, max=11299.5ms
+  physics_step: mean=27.7ms, total=8.30s, count=300, min=17.1ms, max=40.9ms
+  save_batch_prep: mean=5.27s, total=5.27s, count=1, min=5273.3ms, max=5273.3ms
+  task_sampling: mean=552.0ms, total=552.0ms, count=1, min=552.0ms, max=552.0ms
+  task_specific_sample: mean=547.7ms, total=547.7ms, count=1, min=547.7ms, max=547.7ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=467.5us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=24.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 02:45:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 02:45:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 02:45:03 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 02:45:03 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 02:45:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 02:45:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 02:45:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 02:45:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 02:45:03 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 02:45:03 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 02:45:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 02:45:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.065m, effective arm-mount z=0.925m (base_body_z=0.065m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 02:45:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 02:45:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 02:45:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.065185m	[env.py: 870]
+05/12 02:45:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 02:45:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 02:45:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 02:45:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -63.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 02:45:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 63.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 02:45:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.01304786  0.89721097  0.06518476] yaw=-176.8deg	[env.py: 1019]
+05/12 02:45:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 02:45:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -49.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 02:45:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.6884903   0.47534942  0.06518476] yaw=141.6deg	[env.py: 1019]
+05/12 02:45:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 02:45:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.73505843  0.39205127  0.06518476] yaw=209.4deg	[env.py: 1019]
+05/12 02:45:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 02:45:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 02:45:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=143.0ms, total=143.0ms	[env.py: 1075]
+05/12 02:45:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.013, 0.897, 0.065)	[env.py: 1079]
+05/12 02:45:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -176.8 deg	[env.py: 1082]
+05/12 02:45:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.805m	[env.py: 1086]
+05/12 02:45:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 02:45:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 02:45:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 02:45:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 02:45:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 02:45:04 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 02:45:04 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/12 02:45:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.126s	[base_object_manipulation_planner_policy.py: 377]
+05/12 02:45:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 02:45:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 02:45:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.083s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 02:45:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.969s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 02:45:05 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.455[m] 83.737[deg]	[grasp_sample.py: 539]
+05/12 02:45:05 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 02:45:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 02:45:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 02:45:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 02:45:05 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 02:45:05 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 02:45:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 02:45:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 02:45:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.095s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/12 02:45:08 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.627s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 02:45:08 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.108[m] 0.203[deg]	[grasp_sample.py: 539]
+05/12 02:45:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 02:45:10 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/12 02:45:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 02:45:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 02:45:11 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 02:45:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 02:45:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 02:45:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 02:45:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 02:45:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 02:45:11 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 02:45:11 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: 178]
+05/12 02:45:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 02:45:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.064m, effective arm-mount z=0.924m (base_body_z=0.064m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 02:45:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 02:45:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 02:45:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.063753m	[env.py: 870]
+05/12 02:45:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 02:45:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 02:45:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 02:45:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.7300077   0.18666314  0.06375278] yaw=182.8deg	[env.py: 1019]
+05/12 02:45:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 02:45:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -68.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 02:45:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.84184118  0.36302508  0.06375278] yaw=170.5deg	[env.py: 1019]
+05/12 02:45:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 02:45:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 86.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 02:45:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.04918939  1.28371043  0.06375278] yaw=-133.2deg	[env.py: 1019]
+05/12 02:45:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 02:45:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 02:45:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=118.5ms, total=118.6ms	[env.py: 1075]
+05/12 02:45:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.730, 0.187, 0.064)	[env.py: 1079]
+05/12 02:45:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 182.8 deg	[env.py: 1082]
+05/12 02:45:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.016m	[env.py: 1086]
+05/12 02:45:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 02:45:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 02:45:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 02:45:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 02:45:12 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 02:45:12 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/12 02:45:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s	[base_object_manipulation_planner_policy.py: 377]
+05/12 02:45:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 02:45:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 02:45:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.089s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 02:45:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 02:45:14 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.693s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 02:45:14 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.568[m] 84.094[deg]	[grasp_sample.py: 539]
+05/12 02:45:15 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 02:45:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 02:45:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 02:45:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 02:45:15 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 02:45:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 02:45:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 02:45:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 02:45:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 02:45:22 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 02:45:22 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 02:45:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 02:45:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 02:45:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.082s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/12 02:45:25 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.242s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 02:45:25 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.031[m] 4.392[deg]	[grasp_sample.py: 539]
+05/12 02:45:26 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_003	[pipeline.py: 1174]
+05/12 02:45:26 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/12 02:45:26 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 02:45:26 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/12 02:45:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 02:45:28 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 02:45:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 02:45:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 02:45:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 02:45:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 02:45:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 02:45:28 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 02:45:28 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 02:45:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 02:45:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.054m, effective arm-mount z=0.914m (base_body_z=0.054m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 02:45:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 02:45:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 02:45:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.054272m	[env.py: 870]
+05/12 02:45:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 02:45:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 02:45:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 02:45:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.84952234  0.39732611  0.05427151] yaw=158.6deg	[env.py: 1019]
+05/12 02:45:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 02:45:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.87820415  1.09132529  0.05427151] yaw=-155.4deg	[env.py: 1019]
+05/12 02:45:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 02:45:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.98447123  0.94776526  0.05427151] yaw=-177.1deg	[env.py: 1019]
+05/12 02:45:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 02:45:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 02:45:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=100.4ms, total=100.5ms	[env.py: 1075]
+05/12 02:45:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.850, 0.397, 0.054)	[env.py: 1079]
+05/12 02:45:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 158.6 deg	[env.py: 1082]
+05/12 02:45:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.857m	[env.py: 1086]
+05/12 02:45:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 02:45:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 02:45:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 02:45:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 02:45:28 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 02:45:28 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/12 02:45:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.095s	[base_object_manipulation_planner_policy.py: 377]
+05/12 02:45:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 02:45:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 02:45:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.087s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 02:45:30 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.884s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 02:45:30 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.434[m] 91.040[deg]	[grasp_sample.py: 539]
+05/12 02:45:30 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 02:45:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 02:45:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 02:45:30 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 02:45:41 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 02:45:41 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_003	[save_utils.py: 785]
+05/12 02:45:41 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 15.41s (batch: 4.25s, save: 11.16s)	[pipeline.py: 300]
+05/12 02:45:42 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.62s:
+  episode_total: mean=197.10s, total=197.10s, count=1, min=197100.6ms, max=197100.6ms
+  sensor_polling: mean=462.5ms, total=138.74s, count=300, min=400.0ms, max=863.5ms
+  save_trajectories: mean=11.16s, total=11.16s, count=1, min=11163.6ms, max=11163.6ms
+  physics_step: mean=28.2ms, total=8.46s, count=300, min=19.1ms, max=45.2ms
+  save_batch_prep: mean=4.25s, total=4.25s, count=1, min=4249.8ms, max=4249.8ms
+  task_sampling: mean=623.9ms, total=623.9ms, count=1, min=623.9ms, max=623.9ms
+  task_specific_sample: mean=619.6ms, total=619.6ms, count=1, min=619.6ms, max=619.6ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=457.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=25.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 02:45:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 02:45:43 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 02:45:43 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 02:45:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 02:45:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 02:45:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 02:45:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 02:45:43 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 02:45:43 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 02:45:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 02:45:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.035m, effective arm-mount z=0.895m (base_body_z=0.035m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 02:45:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 02:45:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 02:45:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034799m	[env.py: 870]
+05/12 02:45:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 02:45:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 02:45:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 02:45:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.97396345  1.15498523  0.03479927] yaw=-149.5deg	[env.py: 1019]
+05/12 02:45:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 02:45:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 56.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 02:45:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 78.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 02:45:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.85142703  0.48756104  0.03479927] yaw=-207.2deg	[env.py: 1019]
+05/12 02:45:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 02:45:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 99.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 02:45:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.82243126  0.04229564  0.03479927] yaw=174.2deg	[env.py: 1019]
+05/12 02:45:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 02:45:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 02:45:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=185.6ms, total=185.6ms	[env.py: 1075]
+05/12 02:45:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.974, 1.155, 0.035)	[env.py: 1079]
+05/12 02:45:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -149.5 deg	[env.py: 1082]
+05/12 02:45:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.992m	[env.py: 1086]
+05/12 02:45:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 02:45:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 02:45:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 02:45:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 02:45:44 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 02:45:44 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/12 02:45:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.132s	[base_object_manipulation_planner_policy.py: 377]
+05/12 02:45:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 02:45:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 02:45:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.132s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 02:45:45 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 02:45:51 INFO: [Worker 0] Feasibility-checked 88 grasps in 7.106s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 02:45:51 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.580[m] 87.303[deg]	[grasp_sample.py: 539]
+05/12 02:45:52 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/12 02:45:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 02:45:54 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 02:45:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 02:45:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 02:45:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 02:45:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 02:45:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 02:45:54 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 02:45:54 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 02:45:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 02:45:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.053m, effective arm-mount z=0.913m (base_body_z=0.053m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 02:45:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 02:45:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 02:45:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.052948m	[env.py: 870]
+05/12 02:45:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 02:45:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 02:45:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 02:45:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 94.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 02:45:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.82281182  0.58207243  0.05294843] yaw=-151.2deg	[env.py: 1019]
+05/12 02:45:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 02:45:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 121.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 02:45:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 60.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 02:45:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 56.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 02:45:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.95410497  1.07294456  0.05294843] yaw=-173.6deg	[env.py: 1019]
+05/12 02:45:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 02:45:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 02:45:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=479.6ms, total=479.7ms	[env.py: 1075]
+05/12 02:45:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.823, 0.582, 0.053)	[env.py: 1079]
+05/12 02:45:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -151.2 deg	[env.py: 1082]
+05/12 02:45:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.885m	[env.py: 1086]
+05/12 02:45:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 02:45:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 02:45:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 02:45:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 02:45:55 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 02:45:55 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 02:45:55 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/12 02:45:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.117s	[base_object_manipulation_planner_policy.py: 377]
+05/12 02:45:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 02:45:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 02:45:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 02:45:56 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.806s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 02:45:56 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.461[m] 86.231[deg]	[grasp_sample.py: 539]
+05/12 02:45:56 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 02:45:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 02:45:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 02:45:57 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 02:45:59 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 02:46:07 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 02:46:12 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 02:46:18 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 02:46:22 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 02:46:22 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 02:46:26 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 02:46:40 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 02:46:49 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 02:46:53 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 02:47:30 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 02:47:45 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 02:47:56 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_003	[pipeline.py: 1174]
+05/12 02:47:56 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/12 02:47:56 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 02:48:12 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 02:48:12 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_003	[save_utils.py: 785]
+05/12 02:48:12 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 15.43s (batch: 4.37s, save: 11.05s)	[pipeline.py: 300]
+05/12 02:48:12 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 02:48:12 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.48s:
+  episode_total: mean=189.25s, total=189.25s, count=1, min=189249.7ms, max=189249.7ms
+  sensor_polling: mean=448.1ms, total=134.43s, count=300, min=392.4ms, max=815.9ms
+  save_trajectories: mean=11.05s, total=11.05s, count=1, min=11053.2ms, max=11053.2ms
+  physics_step: mean=27.3ms, total=8.19s, count=300, min=18.4ms, max=67.9ms
+  save_batch_prep: mean=4.37s, total=4.37s, count=1, min=4374.0ms, max=4374.0ms
+  task_sampling: mean=484.8ms, total=484.8ms, count=1, min=484.8ms, max=484.8ms
+  task_specific_sample: mean=479.8ms, total=479.8ms, count=1, min=479.8ms, max=479.8ms
+  scene_randomize: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms
+  mj_forward_sync: mean=464.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=27.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 02:48:13 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_003	[pipeline.py: 1174]
+05/12 02:48:13 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/12 02:48:13 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 02:48:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 02:48:14 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 02:48:14 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 02:48:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 02:48:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 02:48:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 02:48:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 02:48:14 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 02:48:14 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 02:48:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 02:48:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.006m, effective arm-mount z=0.866m (base_body_z=0.006m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 02:48:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 02:48:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 02:48:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.006459m	[env.py: 870]
+05/12 02:48:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 02:48:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 02:48:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 02:48:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 66.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 02:48:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.99492437  1.30700537  0.00645874] yaw=-108.9deg	[env.py: 1019]
+05/12 02:48:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 02:48:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 64.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 02:48:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 103.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 02:48:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 105.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 02:48:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.85013604  0.20786847  0.00645874] yaw=166.1deg	[env.py: 1019]
+05/12 02:48:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 02:48:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.92274979  0.37590611  0.00645874] yaw=166.8deg	[env.py: 1019]
+05/12 02:48:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 02:48:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 02:48:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=257.0ms, total=257.1ms	[env.py: 1075]
+05/12 02:48:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.995, 1.307, 0.006)	[env.py: 1079]
+05/12 02:48:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -108.9 deg	[env.py: 1082]
+05/12 02:48:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.087m	[env.py: 1086]
+05/12 02:48:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 02:48:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 02:48:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 02:48:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 02:48:15 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 02:48:15 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/12 02:48:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.120s	[base_object_manipulation_planner_policy.py: 377]
+05/12 02:48:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 02:48:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 02:48:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.083s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 02:48:18 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.662s, found feasible grasp: False	[grasp_sample.py: 500]
+05/12 02:48:18 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/12 02:48:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 02:48:19 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 02:48:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 02:48:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 02:48:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 02:48:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 02:48:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 02:48:19 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 02:48:19 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: 178]
+05/12 02:48:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 02:48:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.028m, effective arm-mount z=0.888m (base_body_z=0.028m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 02:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 02:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 02:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.027922m	[env.py: 870]
+05/12 02:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 02:48:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 02:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 02:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 175.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 02:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 85.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 02:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.69130805  0.8342446   0.02792175] yaw=-196.1deg	[env.py: 1019]
+05/12 02:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 02:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.69168004  0.58280522  0.02792175] yaw=-158.7deg	[env.py: 1019]
+05/12 02:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 02:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.96974565  1.08054315  0.02792175] yaw=-107.1deg	[env.py: 1019]
+05/12 02:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 02:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 02:48:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=152.5ms, total=152.5ms	[env.py: 1075]
+05/12 02:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.691, 0.834, 0.028)	[env.py: 1079]
+05/12 02:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -196.1 deg	[env.py: 1082]
+05/12 02:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.071m	[env.py: 1086]
+05/12 02:48:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 02:48:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 02:48:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 02:48:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 02:48:19 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 02:48:19 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/12 02:48:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
+05/12 02:48:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 02:48:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 02:48:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 02:48:20 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 02:48:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.526s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 02:48:22 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.696[m] 89.242[deg]	[grasp_sample.py: 539]
+05/12 02:48:22 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 02:48:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 02:48:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 02:48:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 02:48:29 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_003	[save_utils.py: 785]
+05/12 02:48:29 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 16.06s (batch: 4.70s, save: 11.35s)	[pipeline.py: 300]
+05/12 02:48:30 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.90s:
+  episode_total: mean=173.52s, total=347.05s, count=2, min=148184.4ms, max=198865.3ms
+  sensor_polling: mean=445.9ms, total=256.39s, count=575, min=375.5ms, max=838.1ms
+  physics_step: mean=28.4ms, total=16.33s, count=575, min=17.0ms, max=71.1ms
+  save_trajectories: mean=11.35s, total=11.35s, count=1, min=11352.5ms, max=11352.5ms
+  save_batch_prep: mean=4.70s, total=4.70s, count=1, min=4703.5ms, max=4703.5ms
+  task_sampling: mean=448.8ms, total=897.7ms, count=2, min=412.9ms, max=484.8ms
+  task_specific_sample: mean=444.2ms, total=888.4ms, count=2, min=408.9ms, max=479.5ms
+  scene_randomize: mean=2.7ms, total=5.5ms, count=2, min=1.9ms, max=3.6ms
+  mj_forward_sync: mean=553.0us, total=1.1ms, count=2, min=0.5ms, max=0.6ms
+  policy_setup: mean=23.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 02:48:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 02:48:32 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 02:48:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 02:48:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 02:48:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 02:48:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 02:48:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 02:48:32 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 02:48:32 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 02:48:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 02:48:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.070m, effective arm-mount z=0.930m (base_body_z=0.070m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 02:48:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 02:48:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 02:48:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.069683m	[env.py: 870]
+05/12 02:48:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 02:48:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 02:48:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 02:48:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.95579645  0.88873761  0.06968254] yaw=-160.1deg	[env.py: 1019]
+05/12 02:48:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 02:48:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.88867598  1.16032363  0.06968254] yaw=-142.7deg	[env.py: 1019]
+05/12 02:48:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 02:48:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.96347     0.90117416  0.06968254] yaw=-163.6deg	[env.py: 1019]
+05/12 02:48:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 02:48:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 02:48:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=160.0ms, total=160.0ms	[env.py: 1075]
+05/12 02:48:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.956, 0.889, 0.070)	[env.py: 1079]
+05/12 02:48:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -160.1 deg	[env.py: 1082]
+05/12 02:48:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.850m	[env.py: 1086]
+05/12 02:48:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 02:48:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 02:48:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 02:48:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 02:48:32 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 02:48:32 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/12 02:48:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.125s	[base_object_manipulation_planner_policy.py: 377]
+05/12 02:48:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 02:48:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 02:48:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.090s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 02:48:33 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.896s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 02:48:33 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.417[m] 86.688[deg]	[grasp_sample.py: 539]
+05/12 02:48:33 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 02:48:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 02:48:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 02:48:41 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_003	[pipeline.py: 1174]
+05/12 02:48:41 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/12 02:48:41 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 02:48:47 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_003	[pipeline.py: 1174]
+05/12 02:48:47 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/12 02:48:47 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 02:48:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 02:48:57 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_003	[save_utils.py: 785]
+05/12 02:48:57 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 15.93s (batch: 4.57s, save: 11.36s)	[pipeline.py: 300]
+05/12 02:48:57 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.84s:
+  episode_total: mean=161.65s, total=323.30s, count=2, min=113911.0ms, max=209392.6ms
+  sensor_polling: mean=471.1ms, total=230.36s, count=489, min=402.7ms, max=840.5ms
+  physics_step: mean=28.1ms, total=13.72s, count=489, min=17.0ms, max=41.0ms
+  save_trajectories: mean=11.36s, total=11.36s, count=1, min=11361.1ms, max=11361.1ms
+  save_batch_prep: mean=4.57s, total=4.57s, count=1, min=4571.6ms, max=4571.6ms
+  task_sampling: mean=417.8ms, total=835.6ms, count=2, min=410.5ms, max=425.2ms
+  task_specific_sample: mean=413.4ms, total=826.8ms, count=2, min=405.7ms, max=421.0ms
+  scene_randomize: mean=2.5ms, total=5.0ms, count=2, min=2.3ms, max=2.7ms
+  mj_forward_sync: mean=536.9us, total=1.1ms, count=2, min=0.5ms, max=0.6ms
+  policy_setup: mean=24.9us, 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]
+05/12 02:48:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 02:48:59 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 02:48:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 02:48:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 02:48:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 02:48:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 02:48:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 02:48:59 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 02:48:59 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: 178]
+05/12 02:48:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 02:48:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.062m, effective arm-mount z=0.922m (base_body_z=0.062m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 02:48:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 02:48:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 02:48:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.061929m	[env.py: 870]
+05/12 02:48:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 02:48:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 02:48:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 02:48:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 76.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 02:48:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.98773378  1.03437443  0.06192884] yaw=-106.3deg	[env.py: 1019]
+05/12 02:48:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 02:48:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.86848864  0.35169354  0.06192884] yaw=147.6deg	[env.py: 1019]
+05/12 02:48:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 02:48:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.99336694  0.95900937  0.06192884] yaw=-131.2deg	[env.py: 1019]
+05/12 02:48:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 02:48:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 02:48:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=169.6ms, total=169.7ms	[env.py: 1075]
+05/12 02:48:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.988, 1.034, 0.062)	[env.py: 1079]
+05/12 02:48:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -106.3 deg	[env.py: 1082]
+05/12 02:48:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.903m	[env.py: 1086]
+05/12 02:48:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 02:48:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 02:48:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 02:48:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 02:48:59 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 02:48:59 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/12 02:48:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.124s	[base_object_manipulation_planner_policy.py: 377]
+05/12 02:48:59 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]
+05/12 02:48:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 02:49:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.089s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 02:49:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 02:49:02 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_003	[save_utils.py: 785]
+05/12 02:49:02 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 15.35s (batch: 3.78s, save: 11.57s)	[pipeline.py: 300]
+05/12 02:49:03 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=1.39s:
+  episode_total: mean=99.02s, total=198.04s, count=2, min=9236.3ms, max=188804.0ms
+  sensor_polling: mean=445.8ms, total=133.75s, count=300, min=389.1ms, max=859.5ms
+  save_trajectories: mean=11.57s, total=11.57s, count=1, min=11573.1ms, max=11573.1ms
+  physics_step: mean=26.3ms, total=7.90s, count=300, min=21.8ms, max=54.5ms
+  save_batch_prep: mean=3.78s, total=3.78s, count=1, min=3778.9ms, max=3778.9ms
+  task_sampling: mean=695.9ms, total=1.39s, count=2, min=592.5ms, max=799.3ms
+  task_specific_sample: mean=689.7ms, total=1.38s, count=2, min=588.3ms, max=791.1ms
+  scene_randomize: mean=3.3ms, total=6.6ms, count=2, min=2.6ms, max=4.0ms
+  mj_forward_sync: mean=467.5us, total=0.9ms, count=2, min=0.5ms, max=0.5ms
+  policy_setup: mean=29.8us, total=0.1ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 02:49:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.642s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 02:49:03 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.630[m] 90.484[deg]	[grasp_sample.py: 539]
+05/12 02:49:03 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 02:49:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 02:49:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 02:49:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 02:49:04 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 02:49:04 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 02:49:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 02:49:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 02:49:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 02:49:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 02:49:04 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 02:49:04 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 02:49:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 02:49:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.042m, effective arm-mount z=0.902m (base_body_z=0.042m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 02:49:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 02:49:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 02:49:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.041956m	[env.py: 870]
+05/12 02:49:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 02:49:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 02:49:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 02:49:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.02475732  0.82151986  0.04195573] yaw=-192.3deg	[env.py: 1019]
+05/12 02:49:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 02:49:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.73548424  0.67062315  0.04195573] yaw=-132.9deg	[env.py: 1019]
+05/12 02:49:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 02:49:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 94.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 02:49:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.92524339  1.10554557  0.04195573] yaw=-164.3deg	[env.py: 1019]
+05/12 02:49:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 02:49:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 02:49:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=154.6ms, total=154.7ms	[env.py: 1075]
+05/12 02:49:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.025, 0.822, 0.042)	[env.py: 1079]
+05/12 02:49:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -192.3 deg	[env.py: 1082]
+05/12 02:49:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.758m	[env.py: 1086]
+05/12 02:49:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 02:49:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 02:49:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 02:49:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 02:49:05 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 02:49:05 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/12 02:49:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.126s	[base_object_manipulation_planner_policy.py: 377]
+05/12 02:49:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 02:49:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 02:49:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 02:49:06 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.973s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 02:49:06 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.532[m] 98.091[deg]	[grasp_sample.py: 539]
+05/12 02:49:06 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 02:49:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 02:49:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 02:49:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 02:49:21 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 02:49:25 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 02:49:26 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 02:49:35 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 02:49:40 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 02:49:57 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 02:50:07 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 02:50:08 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 02:50:12 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 02:50:17 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 02:50:21 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 02:50:50 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 02:51:03 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 02:51:15 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_003	[pipeline.py: 1174]
+05/12 02:51:15 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/12 02:51:15 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 02:51:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 02:51:30 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_003	[save_utils.py: 785]
+05/12 02:51:30 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 15.50s (batch: 4.16s, save: 11.34s)	[pipeline.py: 300]
+05/12 02:51:31 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=1.05s:
+  episode_total: mean=97.66s, total=195.32s, count=2, min=3502.2ms, max=191819.6ms
+  sensor_polling: mean=453.0ms, total=135.90s, count=300, min=393.4ms, max=799.3ms
+  save_trajectories: mean=11.34s, total=11.34s, count=1, min=11340.3ms, max=11340.3ms
+  physics_step: mean=28.3ms, total=8.50s, count=300, min=21.5ms, max=62.2ms
+  save_batch_prep: mean=4.16s, total=4.16s, count=1, min=4156.0ms, max=4156.0ms
+  task_sampling: mean=524.6ms, total=1.05s, count=2, min=428.4ms, max=620.9ms
+  task_specific_sample: mean=520.6ms, total=1.04s, count=2, min=424.4ms, max=616.8ms
+  scene_randomize: mean=2.1ms, total=4.3ms, count=2, min=1.6ms, max=2.7ms
+  mj_forward_sync: mean=457.1us, total=0.9ms, count=2, min=0.5ms, max=0.5ms
+  policy_setup: mean=27.1us, total=0.1ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 02:51:31 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 02:51:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 02:51:32 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 02:51:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 02:51:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 02:51:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 02:51:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 02:51:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 02:51:32 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 02:51:32 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 02:51:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 02:51:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.019m, effective arm-mount z=0.879m (base_body_z=0.019m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 02:51:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 02:51:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 02:51:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.019475m	[env.py: 870]
+05/12 02:51:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 02:51:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 02:51:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 02:51:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -49.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 02:51:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 107.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 02:51:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.03502945  1.26716303  0.01947489] yaw=-103.1deg	[env.py: 1019]
+05/12 02:51:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 02:51:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -40.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 02:51:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 81.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 02:51:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.86784351  0.2322867   0.01947489] yaw=190.6deg	[env.py: 1019]
+05/12 02:51:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 02:51:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.81253474  0.22315225  0.01947489] yaw=176.9deg	[env.py: 1019]
+05/12 02:51:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 02:51:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 02:51:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=164.3ms, total=164.4ms	[env.py: 1075]
+05/12 02:51:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.035, 1.267, 0.019)	[env.py: 1079]
+05/12 02:51:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -103.1 deg	[env.py: 1082]
+05/12 02:51:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.030m	[env.py: 1086]
+05/12 02:51:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 02:51:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 02:51:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 02:51:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 02:51:33 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_003	[pipeline.py: 1174]
+05/12 02:51:33 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/12 02:51:33 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 02:51:33 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 02:51:33 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/12 02:51:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.115s	[base_object_manipulation_planner_policy.py: 377]
+05/12 02:51:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 02:51:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 02:51:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 02:51:36 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.548s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 02:51:36 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.661[m] 93.669[deg]	[grasp_sample.py: 539]
+05/12 02:51:36 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 02:51:36 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 02:51:36 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 02:51:37 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 02:51:37 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 02:51:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 02:51:49 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_003	[save_utils.py: 785]
+05/12 02:51:49 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 16.54s (batch: 4.84s, save: 11.70s)	[pipeline.py: 300]
+05/12 02:51:50 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.48s:
+  episode_total: mean=198.49s, total=198.49s, count=1, min=198485.6ms, max=198485.6ms
+  sensor_polling: mean=459.6ms, total=137.88s, count=300, min=384.7ms, max=855.7ms
+  save_trajectories: mean=11.70s, total=11.70s, count=1, min=11695.9ms, max=11695.9ms
+  physics_step: mean=28.8ms, total=8.64s, count=300, min=17.8ms, max=83.1ms
+  save_batch_prep: mean=4.84s, total=4.84s, count=1, min=4844.4ms, max=4844.4ms
+  task_sampling: mean=481.2ms, total=481.2ms, count=1, min=481.2ms, max=481.2ms
+  task_specific_sample: mean=476.5ms, total=476.5ms, count=1, min=476.5ms, max=476.5ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=459.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=56.7us, total=0.1ms, count=1, min=0.1ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 02:51:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 02:51:52 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 02:51:52 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 02:51:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 02:51:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 02:51:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 02:51:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 02:51:52 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 02:51:52 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 02:51:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 02:51:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.059m, effective arm-mount z=0.919m (base_body_z=0.059m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 02:51:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 02:51:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 02:51:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.059085m	[env.py: 870]
+05/12 02:51:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 02:51:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 02:51:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 02:51:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -51.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 02:51:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 80.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 02:51:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.75951683  0.22807071  0.05908484] yaw=134.5deg	[env.py: 1019]
+05/12 02:51:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 02:51:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 156.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 02:51:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -42.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 02:51:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.80701694  0.60127388  0.05908484] yaw=-134.8deg	[env.py: 1019]
+05/12 02:51:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 02:51:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.69039506  0.10405609  0.05908484] yaw=198.1deg	[env.py: 1019]
+05/12 02:51:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 02:51:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 02:51:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=468.6ms, total=468.7ms	[env.py: 1075]
+05/12 02:51:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.760, 0.228, 0.059)	[env.py: 1079]
+05/12 02:51:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 134.5 deg	[env.py: 1082]
+05/12 02:51:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.976m	[env.py: 1086]
+05/12 02:51:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 02:51:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 02:51:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 02:51:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 02:51:53 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 02:51:53 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/12 02:51:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.117s	[base_object_manipulation_planner_policy.py: 377]
+05/12 02:51:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 02:51:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 02:51:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.087s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 02:51:54 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.100s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 02:51:54 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.582[m] 89.996[deg]	[grasp_sample.py: 539]
+05/12 02:51:54 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 02:51:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 02:51:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 02:51:55 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 02:52:00 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_003	[pipeline.py: 1174]
+05/12 02:52:00 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/12 02:52:00 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 02:52:03 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_003	[pipeline.py: 1174]
+05/12 02:52:03 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/12 02:52:03 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 02:52:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 02:52:16 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_003	[save_utils.py: 785]
+05/12 02:52:16 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 15.77s (batch: 4.62s, save: 11.16s)	[pipeline.py: 300]
+05/12 02:52:16 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.53s:
+  episode_total: mean=197.65s, total=197.65s, count=1, min=197650.4ms, max=197650.4ms
+  sensor_polling: mean=456.4ms, total=136.93s, count=300, min=402.5ms, max=842.5ms
+  save_trajectories: mean=11.16s, total=11.16s, count=1, min=11156.6ms, max=11156.6ms
+  physics_step: mean=26.6ms, total=7.99s, count=300, min=21.8ms, max=50.2ms
+  save_batch_prep: mean=4.62s, total=4.62s, count=1, min=4617.3ms, max=4617.3ms
+  task_sampling: mean=529.8ms, total=529.8ms, count=1, min=529.8ms, max=529.8ms
+  task_specific_sample: mean=525.4ms, total=525.4ms, count=1, min=525.4ms, max=525.4ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=458.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=39.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 02:52:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 02:52:18 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 02:52:18 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 02:52:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 02:52:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 02:52:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 02:52:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 02:52:18 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 02:52:18 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 02:52:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 02:52:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.036m, effective arm-mount z=0.896m (base_body_z=0.036m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 02:52:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 02:52:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 02:52:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.035962m	[env.py: 870]
+05/12 02:52:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 02:52:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 02:52:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 02:52:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 02:52:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -166.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 02:52:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.66130173  0.66956474  0.0359619 ] yaw=-190.3deg	[env.py: 1019]
+05/12 02:52:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 02:52:18 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_003	[save_utils.py: 785]
+05/12 02:52:18 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 14.80s (batch: 3.75s, save: 11.05s)	[pipeline.py: 300]
+05/12 02:52:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -71.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 02:52:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -35.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 02:52:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.93860449  0.5749192   0.0359619 ] yaw=-182.2deg	[env.py: 1019]
+05/12 02:52:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 02:52:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 02:52:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=212.3ms, total=212.4ms	[env.py: 1075]
+05/12 02:52:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.661, 0.670, 0.036)	[env.py: 1079]
+05/12 02:52:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -190.3 deg	[env.py: 1082]
+05/12 02:52:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.058m	[env.py: 1086]
+05/12 02:52:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 02:52:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 02:52:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 02:52:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 02:52:18 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 02:52:18 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/12 02:52:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.117s	[base_object_manipulation_planner_policy.py: 377]
+05/12 02:52:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 02:52:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 02:52:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 02:52:19 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.50s:
+  episode_total: mean=194.50s, total=194.50s, count=1, min=194495.0ms, max=194495.0ms
+  sensor_polling: mean=465.7ms, total=139.72s, count=300, min=402.7ms, max=890.8ms
+  save_trajectories: mean=11.05s, total=11.05s, count=1, min=11045.6ms, max=11045.6ms
+  physics_step: mean=28.5ms, total=8.55s, count=300, min=17.5ms, max=41.3ms
+  save_batch_prep: mean=3.75s, total=3.75s, count=1, min=3752.5ms, max=3752.5ms
+  task_sampling: mean=500.6ms, total=500.6ms, count=1, min=500.6ms, max=500.6ms
+  task_specific_sample: mean=496.6ms, total=496.6ms, count=1, min=496.6ms, max=496.6ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=468.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=32.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 02:52:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 02:52:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 02:52:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 02:52:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 02:52:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 02:52:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 02:52:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 02:52:20 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 02:52:20 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 02:52:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 02:52:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.053m, effective arm-mount z=0.913m (base_body_z=0.053m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 02:52:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 02:52:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 02:52:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.052594m	[env.py: 870]
+05/12 02:52:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 02:52:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 02:52:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 02:52:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 52.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 02:52:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -50.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 02:52:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -51.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 02:52:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.79285027  0.01096469  0.05259401] yaw=128.7deg	[env.py: 1019]
+05/12 02:52:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 02:52:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -72.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 02:52:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.85382828  1.10237093  0.05259401] yaw=-139.1deg	[env.py: 1019]
+05/12 02:52:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 02:52:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.79582446  0.39643573  0.05259401] yaw=143.8deg	[env.py: 1019]
+05/12 02:52:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 02:52:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 02:52:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=170.5ms, total=170.6ms	[env.py: 1075]
+05/12 02:52:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.793, 0.011, 0.053)	[env.py: 1079]
+05/12 02:52:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 128.7 deg	[env.py: 1082]
+05/12 02:52:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.024m	[env.py: 1086]
+05/12 02:52:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 02:52:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 02:52:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 02:52:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 02:52:21 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.085s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 02:52:21 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.658[m] 93.359[deg]	[grasp_sample.py: 539]
+05/12 02:52:21 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 02:52:21 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 02:52:21 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/12 02:52:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.114s	[base_object_manipulation_planner_policy.py: 377]
+05/12 02:52:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 02:52:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 02:52:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.082s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 02:52:21 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 02:52:21 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 02:52:22 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 02:52:24 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.682s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 02:52:24 INFO: [Worker 0] Feasible grasp found 14 (originally 14): w/ 0.639[m] 98.891[deg]	[grasp_sample.py: 539]
+05/12 02:52:25 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/12 02:52:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 02:52:27 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 02:52:27 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 02:52:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 02:52:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 02:52:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 02:52:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 02:52:27 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 02:52:27 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 02:52:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 02:52:27 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: 256]
+05/12 02:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 02:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 02:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.003435m	[env.py: 870]
+05/12 02:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 02:52:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 02:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 02:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.88405353  0.56690561  0.00343483] yaw=-176.9deg	[env.py: 1019]
+05/12 02:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 02:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.92271838  0.66946785  0.00343483] yaw=-189.8deg	[env.py: 1019]
+05/12 02:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 02:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -61.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 02:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.84711449  0.7390529   0.00343483] yaw=-180.2deg	[env.py: 1019]
+05/12 02:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 02:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 02:52:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=95.4ms, total=95.4ms	[env.py: 1075]
+05/12 02:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.884, 0.567, 0.003)	[env.py: 1079]
+05/12 02:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -176.9 deg	[env.py: 1082]
+05/12 02:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.823m	[env.py: 1086]
+05/12 02:52:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 02:52:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 02:52:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 02:52:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 02:52:27 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 02:52:27 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/12 02:52:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
+05/12 02:52:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 02:52:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 02:52:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 02:52:28 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.818s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 02:52:28 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.379[m] 87.774[deg]	[grasp_sample.py: 539]
+05/12 02:52:28 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 02:52:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 02:52:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 02:52:29 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 02:52:40 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 02:52:47 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 02:52:49 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 02:52:54 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 02:52:56 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 02:53:00 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 02:53:05 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 02:53:15 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 02:53:19 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 02:53:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 02:53:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 02:53:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 02:53:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 02:53:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 02:53:25 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 02:53:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 02:53:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 02:53:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 02:53:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 02:53:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 02:53:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 02:53:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 02:53:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 02:53:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 02:53:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 02:53:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 02:53:35 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 02:53:35 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 02:53:35 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]
+05/12 02:53:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 02:53:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/12 02:53:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 02:53:36 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 02:53:36 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 02:53:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 02:53:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 02:53:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 84 non-colliding grasps	[grasp_sample.py: 465]
+05/12 02:53:36 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.792s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 02:53:36 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.031[m] 0.258[deg]	[grasp_sample.py: 539]
+05/12 02:53:36 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 02:53:37 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 02:53:37 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 02:53:38 INFO: [Worker 0] Feasibility-checked 84 grasps in 2.680s, found feasible grasp: False	[grasp_sample.py: 500]
+05/12 02:53:38 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/12 02:53:39 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 02:53:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 02:53:40 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 02:53:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 02:53:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 02:53:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 02:53:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 02:53:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 02:53:40 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 02:53:40 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 02:53:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 02:53:40 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: 256]
+05/12 02:53:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 02:53:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 02:53:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.018059m	[env.py: 870]
+05/12 02:53:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 02:53:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 02:53:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 02:53:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -47.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 02:53:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 52.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 02:53:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 122.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 02:53:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.98665868  0.72221396  0.0180586 ] yaw=-179.7deg	[env.py: 1019]
+05/12 02:53:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 02:53:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.88259209  0.61120159  0.0180586 ] yaw=-184.4deg	[env.py: 1019]
+05/12 02:53:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 02:53:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.74356294  0.28837961  0.0180586 ] yaw=164.4deg	[env.py: 1019]
+05/12 02:53:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 02:53:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 02:53:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=278.2ms, total=278.3ms	[env.py: 1075]
+05/12 02:53:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.987, 0.722, 0.018)	[env.py: 1079]
+05/12 02:53:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -179.7 deg	[env.py: 1082]
+05/12 02:53:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.755m	[env.py: 1086]
+05/12 02:53:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 02:53:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 02:53:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 02:53:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 02:53:41 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 02:53:41 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/12 02:53:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
+05/12 02:53:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 02:53:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 02:53:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 02:53:42 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 02:53:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.885s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 02:53:42 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.367[m] 94.851[deg]	[grasp_sample.py: 539]
+05/12 02:53:42 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 02:53:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 02:53:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 02:53:51 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 02:53:55 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 02:53:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 02:54:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 02:54:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 02:54:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 02:54:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 02:54:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 02:54:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 02:54:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 02:54:12 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 02:54:12 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 02:54:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 02:54:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 02:54:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.095s, found 74 non-colliding grasps	[grasp_sample.py: 465]
+05/12 02:54:14 INFO: [Worker 0] Feasibility-checked 74 grasps in 2.189s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 02:54:14 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.027[m] 3.564[deg]	[grasp_sample.py: 539]
+05/12 02:54:14 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 02:54:14 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 02:54:14 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 02:54:14 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 02:54:18 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 02:54:24 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 02:54:28 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 02:54:28 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 02:54:32 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 02:54:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 02:54:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 02:54:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 02:54:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 02:54:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 02:54:49 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 02:54:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 02:54:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 02:54:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 02:54:54 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 02:54:54 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 02:54:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 02:54:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 02:54:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.083s, found 70 non-colliding grasps	[grasp_sample.py: 465]
+05/12 02:54:58 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 02:55:01 INFO: [Worker 0] Feasibility-checked 70 grasps in 6.765s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 02:55:01 INFO: [Worker 0] Feasible grasp found 4 (originally 4): w/ 0.218[m] 3.001[deg]	[grasp_sample.py: 539]
+05/12 02:55:01 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 02:55:01 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 02:55:01 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 02:55:03 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/12 02:55:03 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=False episode_total=0.85s:
+  episode_total: mean=191.49s, total=191.49s, count=1, min=191485.7ms, max=191485.7ms
+  sensor_polling: mean=444.9ms, total=133.47s, count=300, min=379.5ms, max=856.5ms
+  physics_step: mean=27.8ms, total=8.33s, count=300, min=15.6ms, max=81.5ms
+  task_sampling: mean=845.5ms, total=845.5ms, count=1, min=845.5ms, max=845.5ms
+  task_specific_sample: mean=834.2ms, total=834.2ms, count=1, min=834.2ms, max=834.2ms
+  scene_randomize: mean=9.6ms, total=9.6ms, count=1, min=9.6ms, max=9.6ms
+  mj_forward_sync: mean=492.9us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=56.1us, total=0.1ms, count=1, min=0.1ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 02:55:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 02:55:05 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 02:55:05 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 02:55:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 02:55:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 02:55:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 02:55:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 02:55:05 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 02:55:05 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 02:55:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 02:55:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.041m, effective arm-mount z=0.901m (base_body_z=0.041m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 02:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 02:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 02:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.040907m	[env.py: 870]
+05/12 02:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 02:55:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 02:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 02:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -47.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 02:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -75.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 02:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 85.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 02:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 100.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 02:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 89.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 02:55:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=227.7ms, total=227.8ms	[env.py: 1105]
+05/12 02:55:05 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root'	[opening_task_samplers.py: 285]
+05/12 02:55:05 ERROR: [Worker 0] Worker 0 house 1 episode 8 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root	[pipeline.py: 1063]
+05/12 02:55:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 02:55:07 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 02:55:07 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 02:55:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 02:55:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 02:55:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 02:55:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 02:55:07 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 02:55:07 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 02:55:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 02:55:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.094m, effective arm-mount z=0.954m (base_body_z=0.094m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 02:55:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 02:55:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 02:55:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.093882m	[env.py: 870]
+05/12 02:55:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 02:55:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 02:55:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 02:55:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.86564312  0.29175352  0.09388159] yaw=174.9deg	[env.py: 1019]
+05/12 02:55:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 02:55:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -33.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 02:55:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.61703582  0.35570974  0.09388159] yaw=165.6deg	[env.py: 1019]
+05/12 02:55:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 02:55:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 95.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 02:55:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -39.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 02:55:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.80972222  0.70976045  0.09388159] yaw=-169.0deg	[env.py: 1019]
+05/12 02:55:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 02:55:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 02:55:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=215.8ms, total=215.9ms	[env.py: 1075]
+05/12 02:55:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.866, 0.292, 0.094)	[env.py: 1079]
+05/12 02:55:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 174.9 deg	[env.py: 1082]
+05/12 02:55:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.858m	[env.py: 1086]
+05/12 02:55:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 02:55:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 02:55:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 02:55:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 02:55:07 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 02:55:07 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/12 02:55:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s	[base_object_manipulation_planner_policy.py: 377]
+05/12 02:55:07 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]
+05/12 02:55:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 02:55:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 02:55:08 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.854s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 02:55:08 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.422[m] 89.223[deg]	[grasp_sample.py: 539]
+05/12 02:55:08 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 02:55:09 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 02:55:09 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 02:55:09 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 02:55:18 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_003	[pipeline.py: 1174]
+05/12 02:55:18 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/12 02:55:18 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 02:55:25 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_003	[pipeline.py: 1174]
+05/12 02:55:25 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/12 02:55:25 INFO: [Worker 0] Preparing episode data: 298 timesteps	[save_utils.py: 278]
+05/12 02:55:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 02:55:34 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_003	[save_utils.py: 785]
+05/12 02:55:34 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 15.65s (batch: 4.41s, save: 11.24s)	[pipeline.py: 300]
+05/12 02:55:34 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.51s:
+  episode_total: mean=196.50s, total=196.50s, count=1, min=196501.7ms, max=196501.7ms
+  sensor_polling: mean=456.8ms, total=137.05s, count=300, min=397.5ms, max=943.4ms
+  save_trajectories: mean=11.24s, total=11.24s, count=1, min=11237.6ms, max=11237.6ms
+  physics_step: mean=27.5ms, total=8.24s, count=300, min=21.5ms, max=43.4ms
+  save_batch_prep: mean=4.41s, total=4.41s, count=1, min=4413.5ms, max=4413.5ms
+  task_sampling: mean=514.8ms, total=514.8ms, count=1, min=514.8ms, max=514.8ms
+  task_specific_sample: mean=510.4ms, total=510.4ms, count=1, min=510.4ms, max=510.4ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=454.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  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]
+05/12 02:55:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 02:55:36 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 02:55:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 02:55:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 02:55:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 02:55:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 02:55:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 02:55:36 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 02:55:36 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 02:55:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 02:55:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.099m, effective arm-mount z=0.959m (base_body_z=0.099m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 02:55:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 02:55:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 02:55:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.099052m	[env.py: 870]
+05/12 02:55:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 02:55:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 02:55:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 02:55:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 109.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 02:55:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -76.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 02:55:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -67.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 02:55:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.93744082  0.5922669   0.09905199] yaw=-140.6deg	[env.py: 1019]
+05/12 02:55:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 02:55:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -38.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 02:55:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.96705934  1.02606453  0.09905199] yaw=-140.0deg	[env.py: 1019]
+05/12 02:55:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 02:55:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 02:55:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=203.5ms, total=203.6ms	[env.py: 1075]
+05/12 02:55:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.937, 0.592, 0.099)	[env.py: 1079]
+05/12 02:55:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -140.6 deg	[env.py: 1082]
+05/12 02:55:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.773m	[env.py: 1086]
+05/12 02:55:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 02:55:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 02:55:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 02:55:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 02:55:36 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 02:55:36 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/12 02:55:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.118s	[base_object_manipulation_planner_policy.py: 377]
+05/12 02:55:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 02:55:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 02:55:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.089s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 02:55:38 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.021s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 02:55:38 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.483[m] 90.432[deg]	[grasp_sample.py: 539]
+05/12 02:55:38 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 02:55:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 02:55:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 02:55:39 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 02:55:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 02:55:40 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_003	[save_utils.py: 785]
+05/12 02:55:40 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 15.03s (batch: 3.70s, save: 11.32s)	[pipeline.py: 300]
+05/12 02:55:41 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.85s:
+  episode_total: mean=99.33s, total=198.65s, count=2, min=4612.5ms, max=194039.6ms
+  sensor_polling: mean=467.6ms, total=138.88s, count=297, min=391.6ms, max=908.3ms
+  save_trajectories: mean=11.32s, total=11.32s, count=1, min=11324.9ms, max=11324.9ms
+  physics_step: mean=27.6ms, total=8.20s, count=297, min=18.2ms, max=41.6ms
+  save_batch_prep: mean=3.70s, total=3.70s, count=1, min=3701.7ms, max=3701.7ms
+  task_sampling: mean=424.0ms, total=848.0ms, count=2, min=368.1ms, max=479.9ms
+  task_specific_sample: mean=419.8ms, total=839.6ms, count=2, min=363.8ms, max=475.8ms
+  scene_randomize: mean=2.4ms, total=4.7ms, count=2, min=2.1ms, max=2.7ms
+  mj_forward_sync: mean=457.5us, total=0.9ms, count=2, min=0.5ms, max=0.5ms
+  policy_setup: mean=14.1us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 02:55:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 02:55:42 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 02:55:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 02:55:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 02:55:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 02:55:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 02:55:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 02:55:42 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 02:55:42 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 02:55:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 02:55:42 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: 256]
+05/12 02:55:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 02:55:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 02:55:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.096984m	[env.py: 870]
+05/12 02:55:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 02:55:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 02:55:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 02:55:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.00883056  0.14969499  0.09698418] yaw=128.6deg	[env.py: 1019]
+05/12 02:55:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 02:55:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -36.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 02:55:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.89383864  0.3578355   0.09698418] yaw=144.6deg	[env.py: 1019]
+05/12 02:55:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 02:55:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -37.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 02:55:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.01502827  0.8057639   0.09698418] yaw=-145.2deg	[env.py: 1019]
+05/12 02:55:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 02:55:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 02:55:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=129.8ms, total=129.9ms	[env.py: 1075]
+05/12 02:55:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.009, 0.150, 0.097)	[env.py: 1079]
+05/12 02:55:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 128.6 deg	[env.py: 1082]
+05/12 02:55:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.769m	[env.py: 1086]
+05/12 02:55:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 02:55:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 02:55:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 02:55:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 02:55:43 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 02:55:43 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/12 02:55:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.123s	[base_object_manipulation_planner_policy.py: 377]
+05/12 02:55:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 02:55:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 02:55:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 02:55:44 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.994s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 02:55:44 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.434[m] 97.505[deg]	[grasp_sample.py: 539]
+05/12 02:55:44 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 02:55:45 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 02:55:45 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 02:55:45 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 02:55:49 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 02:55:58 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 02:56:01 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 02:56:05 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 02:56:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 02:56:27 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 02:56:31 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 02:56:34 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_003	[pipeline.py: 1174]
+05/12 02:56:34 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/12 02:56:34 INFO: [Worker 0] Preparing episode data: 295 timesteps	[save_utils.py: 278]
+05/12 02:56:36 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 02:56:36 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 02:56:41 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 02:56:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 02:56:50 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_003	[save_utils.py: 785]
+05/12 02:56:50 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 15.65s (batch: 4.05s, save: 11.60s)	[pipeline.py: 300]
+05/12 02:56:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 02:56:51 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=1.08s:
+  episode_total: mean=158.40s, total=316.79s, count=2, min=125994.9ms, max=190799.7ms
+  sensor_polling: mean=451.5ms, total=231.16s, count=512, min=393.8ms, max=872.7ms
+  physics_step: mean=28.1ms, total=14.41s, count=512, min=17.3ms, max=92.3ms
+  save_trajectories: mean=11.60s, total=11.60s, count=1, min=11599.6ms, max=11599.6ms
+  save_batch_prep: mean=4.05s, total=4.05s, count=1, min=4046.2ms, max=4046.2ms
+  task_sampling: mean=542.4ms, total=1.08s, count=2, min=478.3ms, max=606.5ms
+  task_specific_sample: mean=538.1ms, total=1.08s, count=2, min=473.0ms, max=603.2ms
+  scene_randomize: mean=2.4ms, total=4.8ms, count=2, min=1.3ms, max=3.6ms
+  mj_forward_sync: mean=580.4us, total=1.2ms, count=2, min=0.4ms, max=0.7ms
+  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]
+05/12 02:56:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 02:56:52 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 02:56:52 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 02:56:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 02:56:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 02:56:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 02:56:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 02:56:52 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 02:56:52 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 02:56:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 02:56:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.058m, effective arm-mount z=0.918m (base_body_z=0.058m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 02:56:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 02:56:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 02:56:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.058058m	[env.py: 870]
+05/12 02:56:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 02:56:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 02:56:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 02:56:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 62.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 02:56:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 02:56:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 97.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 02:56:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 175.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 02:56:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.80571954  0.17574333  0.05805779] yaw=175.9deg	[env.py: 1019]
+05/12 02:56:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 02:56:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.0143196   0.82443765  0.05805779] yaw=-180.7deg	[env.py: 1019]
+05/12 02:56:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 02:56:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 02:56:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=313.9ms, total=313.9ms	[env.py: 1075]
+05/12 02:56:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.806, 0.176, 0.058)	[env.py: 1079]
+05/12 02:56:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 175.9 deg	[env.py: 1082]
+05/12 02:56:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.947m	[env.py: 1086]
+05/12 02:56:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 02:56:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 02:56:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 02:56:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 02:56:53 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 02:56:53 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/12 02:56:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s	[base_object_manipulation_planner_policy.py: 377]
+05/12 02:56:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 02:56:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 02:56:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.089s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 02:56:54 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.894s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 02:56:54 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.528[m] 91.124[deg]	[grasp_sample.py: 539]
+05/12 02:56:54 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 02:56:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 02:56:55 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 02:56:55 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 02:56:55 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 02:56:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 02:56:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 02:57:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 02:57:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 02:57:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 02:57:03 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 02:57:03 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 02:57:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 02:57:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 02:57:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.098s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/12 02:57:04 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.690s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 02:57:04 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.703[deg]	[grasp_sample.py: 539]
+05/12 02:57:05 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/12 02:57:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 02:57:08 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 02:57:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 02:57:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 02:57:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 02:57:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 02:57:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 02:57:08 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 02:57:08 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 02:57:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 02:57:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.026m, effective arm-mount z=0.886m (base_body_z=0.026m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 02:57:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 02:57:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 02:57:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.026342m	[env.py: 870]
+05/12 02:57:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 02:57:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 02:57:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 02:57:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 94.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 02:57:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 80.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 02:57:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 152.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 02:57:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 98.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 02:57:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -37.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 02:57:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.78522928  0.92160617  0.02634181] yaw=-152.7deg	[env.py: 1019]
+05/12 02:57:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 02:57:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 02:57:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=257.0ms, total=257.0ms	[env.py: 1075]
+05/12 02:57:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.785, 0.922, 0.026)	[env.py: 1079]
+05/12 02:57:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -152.7 deg	[env.py: 1082]
+05/12 02:57:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.017m	[env.py: 1086]
+05/12 02:57:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 02:57:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 02:57:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 02:57:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 02:57:09 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 02:57:09 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/12 02:57:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.099s	[base_object_manipulation_planner_policy.py: 377]
+05/12 02:57:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 02:57:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 02:57:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 02:57:12 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.858s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 02:57:12 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.627[m] 91.620[deg]	[grasp_sample.py: 539]
+05/12 02:57:12 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 02:57:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 02:57:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 02:57:13 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 02:57:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 02:57:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 02:57:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 02:57:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 02:57:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 02:57:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 02:57:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 02:57:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 02:57:29 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 02:57:29 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 02:57:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 02:57:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 02:57:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/12 02:57:30 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.738s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 02:57:30 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.033[m] 0.283[deg]	[grasp_sample.py: 539]
+05/12 02:57:31 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/12 02:57:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 02:57:33 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 02:57:33 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 02:57:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 02:57:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 02:57:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 02:57:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 02:57:33 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 02:57:33 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 02:57:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 02:57:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.006m, effective arm-mount z=0.866m (base_body_z=0.006m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 02:57:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 02:57:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 02:57:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.005597m	[env.py: 870]
+05/12 02:57:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 02:57:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 02:57:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 02:57:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 173.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 02:57:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.85797655  0.89142651  0.00559693] yaw=-186.7deg	[env.py: 1019]
+05/12 02:57:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 02:57:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -33.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 02:57:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.90713878  0.14696356  0.00559693] yaw=146.8deg	[env.py: 1019]
+05/12 02:57:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 02:57:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.61874856  0.4459554   0.00559693] yaw=210.6deg	[env.py: 1019]
+05/12 02:57:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 02:57:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 02:57:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=120.4ms, total=120.5ms	[env.py: 1075]
+05/12 02:57:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.858, 0.891, 0.006)	[env.py: 1079]
+05/12 02:57:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -186.7 deg	[env.py: 1082]
+05/12 02:57:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.938m	[env.py: 1086]
+05/12 02:57:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 02:57:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 02:57:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 02:57:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 02:57:33 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 02:57:33 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/12 02:57:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.106s	[base_object_manipulation_planner_policy.py: 377]
+05/12 02:57:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 02:57:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 02:57:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.081s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 02:57:36 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.620s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 02:57:36 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.602[m] 87.095[deg]	[grasp_sample.py: 539]
+05/12 02:57:36 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 02:57:36 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 02:57:36 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 02:57:47 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 02:57:56 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 02:58:00 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 02:58:05 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 02:58:10 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 02:58:20 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 02:58:24 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 02:58:33 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 02:58:36 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_003	[pipeline.py: 1174]
+05/12 02:58:36 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/12 02:58:36 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 02:58:43 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 02:58:47 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 02:58:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 02:58:52 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_003	[save_utils.py: 785]
+05/12 02:58:52 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 16.38s (batch: 4.42s, save: 11.96s)	[pipeline.py: 300]
+05/12 02:58:53 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.51s:
+  episode_total: mean=197.23s, total=197.23s, count=1, min=197228.3ms, max=197228.3ms
+  sensor_polling: mean=455.9ms, total=136.77s, count=300, min=392.1ms, max=794.3ms
+  save_trajectories: mean=11.96s, total=11.96s, count=1, min=11961.3ms, max=11961.3ms
+  physics_step: mean=26.8ms, total=8.04s, count=300, min=17.3ms, max=54.4ms
+  save_batch_prep: mean=4.42s, total=4.42s, count=1, min=4420.2ms, max=4420.2ms
+  task_sampling: mean=511.8ms, total=511.8ms, count=1, min=511.8ms, max=511.8ms
+  task_specific_sample: mean=507.5ms, total=507.5ms, count=1, min=507.5ms, max=507.5ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=453.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=16.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 02:58:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 02:58:55 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 02:58:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 02:58:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 02:58:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 02:58:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 02:58:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 02:58:55 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 02:58:55 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 02:58:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 02:58:55 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: 256]
+05/12 02:58:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 02:58:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 02:58:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.029176m	[env.py: 870]
+05/12 02:58:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 02:58:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 02:58:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 02:58:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 151.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 02:58:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.81215485  0.73844729  0.02917623] yaw=-190.1deg	[env.py: 1019]
+05/12 02:58:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 02:58:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 116.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 02:58:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -66.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 02:58:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 58.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 02:58:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.75971154  0.37443291  0.02917623] yaw=211.0deg	[env.py: 1019]
+05/12 02:58:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 02:58:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.86504276  1.16503165  0.02917623] yaw=-105.7deg	[env.py: 1019]
+05/12 02:58:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 02:58:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 02:58:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=371.8ms, total=371.9ms	[env.py: 1075]
+05/12 02:58:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.812, 0.738, 0.029)	[env.py: 1079]
+05/12 02:58:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -190.1 deg	[env.py: 1082]
+05/12 02:58:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.926m	[env.py: 1086]
+05/12 02:58:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 02:58:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 02:58:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 02:58:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 02:58:55 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 02:58:55 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/12 02:58:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.123s	[base_object_manipulation_planner_policy.py: 377]
+05/12 02:58:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 02:58:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 02:58:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.086s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 02:58:57 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.939s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 02:58:57 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.548[m] 77.702[deg]	[grasp_sample.py: 539]
+05/12 02:58:57 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 02:58:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 02:58:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 02:59:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 02:59:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 02:59:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 02:59:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 02:59:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 02:59:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 02:59:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 02:59:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 02:59:24 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 02:59:24 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 02:59:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 02:59:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 02:59:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/12 02:59:25 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.754s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 02:59:25 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.483[deg]	[grasp_sample.py: 539]
+05/12 02:59:26 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 02:59:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 02:59:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 02:59:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 02:59:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 02:59:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 02:59:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 02:59:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 02:59:36 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 02:59:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 02:59:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 02:59:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 02:59:39 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 02:59:39 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 02:59:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 02:59:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 02:59:40 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/12 02:59:40 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.675s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 02:59:40 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.471[deg]	[grasp_sample.py: 539]
+05/12 02:59:41 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 02:59:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 02:59:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 02:59:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 02:59:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 02:59:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 02:59:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 02:59:49 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 02:59:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 02:59:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 02:59:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 02:59:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 02:59:55 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 02:59:55 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 02:59:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 02:59:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 02:59:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/12 02:59:56 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.649s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 02:59:56 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.471[deg]	[grasp_sample.py: 539]
+05/12 02:59:57 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 02:59:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 02:59:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 02:59:58 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 02:59:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:00:00 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 03:00:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:00:02 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_003	[pipeline.py: 1174]
+05/12 03:00:02 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/12 03:00:02 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 03:00:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:00:02 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:00:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:00:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:00:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:00:08 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 03:00:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 03:00:18 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_003	[save_utils.py: 785]
+05/12 03:00:18 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 16.31s (batch: 4.67s, save: 11.64s)	[pipeline.py: 300]
+05/12 03:00:19 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=1.04s:
+  episode_total: mean=103.19s, total=309.57s, count=3, min=238.9ms, max=190825.3ms
+  sensor_polling: mean=443.3ms, total=227.40s, count=513, min=381.7ms, max=892.4ms
+  physics_step: mean=27.8ms, total=14.27s, count=513, min=17.0ms, max=72.4ms
+  save_trajectories: mean=11.64s, total=11.64s, count=1, min=11639.5ms, max=11639.5ms
+  save_batch_prep: mean=4.67s, total=4.67s, count=1, min=4671.4ms, max=4671.4ms
+  task_specific_sample: mean=422.8ms, total=1.27s, count=3, min=233.5ms, max=544.6ms
+  task_sampling: mean=521.6ms, total=1.04s, count=2, min=494.1ms, max=549.1ms
+  task_sampling_failed: mean=238.9ms, total=238.9ms, count=1, min=238.9ms, max=238.9ms
+  scene_randomize: mean=1.7ms, total=5.0ms, count=3, min=1.2ms, max=2.4ms
+  mj_forward_sync: mean=459.5us, total=1.4ms, count=3, min=0.4ms, max=0.5ms
+  policy_setup: mean=15.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 03:00:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 03:00:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 03:00:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 03:00:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:00:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:00:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:00:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:00:20 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 03:00:20 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 03:00:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 03:00:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.007m, effective arm-mount z=0.867m (base_body_z=0.007m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 03:00:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 03:00:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 03:00:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.007223m	[env.py: 870]
+05/12 03:00:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 03:00:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 03:00:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 03:00:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 106.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:00:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -34.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:00:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -50.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:00:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 114.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:00:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 98.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:00:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.79846279  0.16627152  0.0072234 ] yaw=134.4deg	[env.py: 1019]
+05/12 03:00:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 03:00:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.75988274  0.08776519  0.0072234 ] yaw=142.5deg	[env.py: 1019]
+05/12 03:00:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 03:00:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 03:00:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=277.4ms, total=277.4ms	[env.py: 1075]
+05/12 03:00:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.798, 0.166, 0.007)	[env.py: 1079]
+05/12 03:00:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 134.4 deg	[env.py: 1082]
+05/12 03:00:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.957m	[env.py: 1086]
+05/12 03:00:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:00:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:00:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:00:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:00:21 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 03:00:21 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/12 03:00:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.136s	[base_object_manipulation_planner_policy.py: 377]
+05/12 03:00:21 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]
+05/12 03:00:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 03:00:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.082s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 03:00:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.968s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 03:00:22 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.565[m] 89.493[deg]	[grasp_sample.py: 539]
+05/12 03:00:22 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 03:00:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 03:00:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:00:23 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 03:00:26 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_003	[pipeline.py: 1174]
+05/12 03:00:26 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/12 03:00:26 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 03:00:37 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_003	[pipeline.py: 1174]
+05/12 03:00:37 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/12 03:00:37 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 03:00:41 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 03:00:41 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_003	[save_utils.py: 785]
+05/12 03:00:41 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 14.91s (batch: 3.78s, save: 11.12s)	[pipeline.py: 300]
+05/12 03:00:42 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.90s:
+  episode_total: mean=148.82s, total=297.64s, count=2, min=108549.7ms, max=189092.5ms
+  sensor_polling: mean=453.8ms, total=219.16s, count=483, min=399.8ms, max=864.3ms
+  physics_step: mean=27.1ms, total=13.08s, count=483, min=17.1ms, max=64.5ms
+  save_trajectories: mean=11.12s, total=11.12s, count=1, min=11122.8ms, max=11122.8ms
+  save_batch_prep: mean=3.78s, total=3.78s, count=1, min=3783.4ms, max=3783.4ms
+  task_sampling: mean=450.5ms, total=901.0ms, count=2, min=412.2ms, max=488.8ms
+  task_specific_sample: mean=445.5ms, total=891.0ms, count=2, min=408.1ms, max=482.9ms
+  scene_randomize: mean=3.0ms, total=6.0ms, count=2, min=2.1ms, max=4.0ms
+  mj_forward_sync: mean=624.2us, total=1.2ms, count=2, min=0.5ms, max=0.8ms
+  policy_setup: mean=18.5us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 03:00:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 03:00:43 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 03:00:43 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 03:00:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:00:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:00:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:00:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:00:43 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 03:00:43 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 03:00:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 03:00:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.047m, effective arm-mount z=0.907m (base_body_z=0.047m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 03:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 03:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 03:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.046925m	[env.py: 870]
+05/12 03:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 03:00:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 03:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 03:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 120.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.68185552  0.26441503  0.0469252 ] yaw=197.1deg	[env.py: 1019]
+05/12 03:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 03:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -46.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 93.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.6816343  0.8207554  0.0469252] yaw=-127.7deg	[env.py: 1019]
+05/12 03:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 03:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.89793152  0.16364873  0.0469252 ] yaw=198.1deg	[env.py: 1019]
+05/12 03:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 03:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 03:00:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=236.7ms, total=236.7ms	[env.py: 1075]
+05/12 03:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.682, 0.264, 0.047)	[env.py: 1079]
+05/12 03:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 197.1 deg	[env.py: 1082]
+05/12 03:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.043m	[env.py: 1086]
+05/12 03:00:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:00:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:00:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:00:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:00:44 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 03:00:44 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/12 03:00:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s	[base_object_manipulation_planner_policy.py: 377]
+05/12 03:00:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 03:00:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 03:00:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 03:00:46 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.156s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 03:00:46 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.687[m] 95.329[deg]	[grasp_sample.py: 539]
+05/12 03:00:46 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 03:00:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 03:00:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:00:47 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 03:00:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 03:00:52 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_003	[save_utils.py: 785]
+05/12 03:00:52 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 14.97s (batch: 4.44s, save: 10.53s)	[pipeline.py: 300]
+05/12 03:00:53 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.64s:
+  episode_total: mean=240.74s, total=240.74s, count=1, min=240736.5ms, max=240736.5ms
+  sensor_polling: mean=466.4ms, total=139.92s, count=300, min=398.4ms, max=842.2ms
+  save_trajectories: mean=10.53s, total=10.53s, count=1, min=10530.5ms, max=10530.5ms
+  physics_step: mean=28.2ms, total=8.47s, count=300, min=15.0ms, max=37.9ms
+  save_batch_prep: mean=4.44s, total=4.44s, count=1, min=4440.3ms, max=4440.3ms
+  task_sampling: mean=642.2ms, total=642.2ms, count=1, min=642.2ms, max=642.2ms
+  task_specific_sample: mean=638.1ms, total=638.1ms, count=1, min=638.1ms, max=638.1ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=452.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=26.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 03:00:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 03:00:54 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 03:00:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 03:00:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:00:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:00:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:00:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:00:55 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 03:00:55 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 03:00:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 03:00:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.093m, effective arm-mount z=0.953m (base_body_z=0.093m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 03:00:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 03:00:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 03:00:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.092963m	[env.py: 870]
+05/12 03:00:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 03:00:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 03:00:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 03:00:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.99198471  0.79520657  0.09296347] yaw=-122.8deg	[env.py: 1019]
+05/12 03:00:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 03:00:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 68.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:00:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 156.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:00:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 117.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:00:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 69.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:00:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.97849519  0.82525333  0.09296347] yaw=-146.7deg	[env.py: 1019]
+05/12 03:00:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 03:00:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 03:00:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=412.7ms, total=412.8ms	[env.py: 1075]
+05/12 03:00:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.992, 0.795, 0.093)	[env.py: 1079]
+05/12 03:00:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -122.8 deg	[env.py: 1082]
+05/12 03:00:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.776m	[env.py: 1086]
+05/12 03:00:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:00:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:00:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:00:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:00:55 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 03:00:55 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/12 03:00:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.114s	[base_object_manipulation_planner_policy.py: 377]
+05/12 03:00:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 03:00:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 03:00:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 03:00:57 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.239s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 03:00:57 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.440[m] 98.335[deg]	[grasp_sample.py: 539]
+05/12 03:00:57 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 03:00:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 03:00:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:01:15 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:01:24 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 03:01:24 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 03:01:28 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:01:41 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:01:51 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 03:01:52 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_003	[pipeline.py: 1174]
+05/12 03:01:52 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/12 03:01:52 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 03:01:56 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:01:57 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:02:06 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 03:02:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 03:02:08 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_003	[save_utils.py: 785]
+05/12 03:02:08 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 15.88s (batch: 4.39s, save: 11.49s)	[pipeline.py: 300]
+05/12 03:02:09 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.71s:
+  episode_total: mean=194.39s, total=194.39s, count=1, min=194391.6ms, max=194391.6ms
+  sensor_polling: mean=452.8ms, total=135.83s, count=300, min=395.3ms, max=872.0ms
+  save_trajectories: mean=11.49s, total=11.49s, count=1, min=11492.7ms, max=11492.7ms
+  physics_step: mean=27.4ms, total=8.21s, count=300, min=18.8ms, max=70.0ms
+  save_batch_prep: mean=4.39s, total=4.39s, count=1, min=4391.2ms, max=4391.2ms
+  task_sampling: mean=714.9ms, total=714.9ms, count=1, min=714.9ms, max=714.9ms
+  task_specific_sample: mean=710.5ms, total=710.5ms, count=1, min=710.5ms, max=710.5ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=629.2us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=17.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 03:02:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 03:02:11 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 03:02:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 03:02:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:02:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:02:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:02:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:02:11 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 03:02:11 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: 178]
+05/12 03:02:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 03:02:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.049m, effective arm-mount z=0.909m (base_body_z=0.049m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 03:02:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 03:02:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 03:02:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.048916m	[env.py: 870]
+05/12 03:02:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 03:02:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 03:02:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 03:02:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.81390822  0.69294418  0.04891577] yaw=-184.6deg	[env.py: 1019]
+05/12 03:02:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 03:02:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 59.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:02:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 80.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:02:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -39.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:02:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -58.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:02:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.94610546  0.09800796  0.04891577] yaw=142.8deg	[env.py: 1019]
+05/12 03:02:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 03:02:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 03:02:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=223.2ms, total=223.2ms	[env.py: 1075]
+05/12 03:02:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.814, 0.693, 0.049)	[env.py: 1079]
+05/12 03:02:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -184.6 deg	[env.py: 1082]
+05/12 03:02:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.913m	[env.py: 1086]
+05/12 03:02:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:02:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:02:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:02:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:02:11 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 03:02:11 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/12 03:02:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.111s	[base_object_manipulation_planner_policy.py: 377]
+05/12 03:02:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 03:02:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 03:02:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 03:02:12 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:02:12 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.868s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 03:02:12 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.547[m] 98.557[deg]	[grasp_sample.py: 539]
+05/12 03:02:12 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 03:02:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 03:02:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:02:13 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 03:02:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:02:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:02:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:02:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:02:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:02:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:02:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:02:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:02:55 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 03:02:55 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 03:02:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 03:02:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 03:02:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/12 03:02:56 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.745s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 03:02:56 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.033[m] 0.304[deg]	[grasp_sample.py: 539]
+05/12 03:02:58 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/12 03:02:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 03:02:59 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 03:02:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 03:02:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:02:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:02:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:02:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:02:59 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 03:02:59 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: 178]
+05/12 03:02:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 03:02:59 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: 256]
+05/12 03:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 03:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 03:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.015133m	[env.py: 870]
+05/12 03:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 03:02:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 03:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 03:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.94588734  0.41053006  0.01513345] yaw=140.3deg	[env.py: 1019]
+05/12 03:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 03:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.74325238  0.10772302  0.01513345] yaw=195.0deg	[env.py: 1019]
+05/12 03:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 03:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.69112673  0.16666024  0.01513345] yaw=202.1deg	[env.py: 1019]
+05/12 03:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 03:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 03:02:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=134.5ms, total=134.6ms	[env.py: 1075]
+05/12 03:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.946, 0.411, 0.015)	[env.py: 1079]
+05/12 03:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 140.3 deg	[env.py: 1082]
+05/12 03:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.760m	[env.py: 1086]
+05/12 03:02:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:02:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:02:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:02:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:03:00 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 03:03:00 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/12 03:03:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s	[base_object_manipulation_planner_policy.py: 377]
+05/12 03:03:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 03:03:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 03:03:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.082s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 03:03:01 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.763s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 03:03:01 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.397[m] 86.285[deg]	[grasp_sample.py: 539]
+05/12 03:03:01 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 03:03:01 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 03:03:01 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:03:06 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:03:17 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 03:03:19 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 03:03:22 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:03:27 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 03:03:36 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:03:45 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_003	[pipeline.py: 1174]
+05/12 03:03:45 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/12 03:03:45 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 03:03:45 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 03:03:49 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:03:56 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_003	[pipeline.py: 1174]
+05/12 03:03:56 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/12 03:03:56 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 03:03:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 03:03:59 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_003	[save_utils.py: 785]
+05/12 03:03:59 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 14.55s (batch: 3.95s, save: 10.60s)	[pipeline.py: 300]
+05/12 03:04:00 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.58s:
+  episode_total: mean=196.94s, total=196.94s, count=1, min=196941.4ms, max=196941.4ms
+  sensor_polling: mean=470.9ms, total=141.26s, count=300, min=402.7ms, max=863.3ms
+  save_trajectories: mean=10.60s, total=10.60s, count=1, min=10599.9ms, max=10599.9ms
+  physics_step: mean=27.4ms, total=8.23s, count=300, min=17.4ms, max=91.9ms
+  save_batch_prep: mean=3.95s, total=3.95s, count=1, min=3952.0ms, max=3952.0ms
+  task_sampling: mean=582.8ms, total=582.8ms, count=1, min=582.8ms, max=582.8ms
+  task_specific_sample: mean=578.3ms, total=578.3ms, count=1, min=578.3ms, max=578.3ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=659.8us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
+  policy_setup: mean=17.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 03:04:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 03:04:01 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 03:04:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 03:04:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:04:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:04:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:04:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:04:01 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 03:04:01 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 03:04:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 03:04:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.070m, effective arm-mount z=0.930m (base_body_z=0.070m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 03:04:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 03:04:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 03:04:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.070443m	[env.py: 870]
+05/12 03:04:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 03:04:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 03:04:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 03:04:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -48.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:04:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.02766785  0.94352025  0.07044293] yaw=-122.7deg	[env.py: 1019]
+05/12 03:04:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 03:04:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.79898526  0.04039739  0.07044293] yaw=174.4deg	[env.py: 1019]
+05/12 03:04:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 03:04:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.7041001   0.47191869  0.07044293] yaw=143.1deg	[env.py: 1019]
+05/12 03:04:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 03:04:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 03:04:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=116.2ms, total=116.2ms	[env.py: 1075]
+05/12 03:04:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.028, 0.944, 0.070)	[env.py: 1079]
+05/12 03:04:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -122.7 deg	[env.py: 1082]
+05/12 03:04:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.817m	[env.py: 1086]
+05/12 03:04:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:04:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:04:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:04:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:04:02 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 03:04:02 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/12 03:04:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.119s	[base_object_manipulation_planner_policy.py: 377]
+05/12 03:04:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 03:04:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 03:04:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.082s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 03:04:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.083s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 03:04:03 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.435[m] 88.234[deg]	[grasp_sample.py: 539]
+05/12 03:04:03 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 03:04:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 03:04:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:04:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 03:04:13 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_003	[save_utils.py: 785]
+05/12 03:04:13 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 16.14s (batch: 4.46s, save: 11.68s)	[pipeline.py: 300]
+05/12 03:04:13 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.75s:
+  episode_total: mean=198.95s, total=198.95s, count=1, min=198949.7ms, max=198949.7ms
+  sensor_polling: mean=463.3ms, total=138.98s, count=300, min=398.3ms, max=813.8ms
+  save_trajectories: mean=11.68s, total=11.68s, count=1, min=11677.5ms, max=11677.5ms
+  physics_step: mean=28.3ms, total=8.50s, count=300, min=17.9ms, max=37.4ms
+  save_batch_prep: mean=4.46s, total=4.46s, count=1, min=4460.8ms, max=4460.8ms
+  task_sampling: mean=747.2ms, total=747.2ms, count=1, min=747.2ms, max=747.2ms
+  task_specific_sample: mean=743.1ms, total=743.1ms, count=1, min=743.1ms, max=743.1ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=465.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=15.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 03:04:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 03:04:15 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 03:04:15 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 03:04:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:04:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:04:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:04:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:04:15 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 03:04:15 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 03:04:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 03:04:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.050m, effective arm-mount z=0.910m (base_body_z=0.050m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 03:04:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 03:04:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 03:04:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.050324m	[env.py: 870]
+05/12 03:04:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 03:04:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 03:04:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 03:04:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.81287897  0.21945418  0.05032385] yaw=146.0deg	[env.py: 1019]
+05/12 03:04:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 03:04:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -69.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:04:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 55.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:04:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.9283289   0.53316151  0.05032385] yaw=-211.6deg	[env.py: 1019]
+05/12 03:04:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 03:04:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -64.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:04:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.67366668  0.58376065  0.05032385] yaw=-157.0deg	[env.py: 1019]
+05/12 03:04:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 03:04:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 03:04:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=182.3ms, total=182.4ms	[env.py: 1075]
+05/12 03:04:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.813, 0.219, 0.050)	[env.py: 1079]
+05/12 03:04:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 146.0 deg	[env.py: 1082]
+05/12 03:04:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.927m	[env.py: 1086]
+05/12 03:04:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:04:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:04:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:04:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:04:16 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 03:04:16 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/12 03:04:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.146s	[base_object_manipulation_planner_policy.py: 377]
+05/12 03:04:16 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]
+05/12 03:04:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 03:04:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.107s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 03:04:17 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.895s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 03:04:17 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.543[m] 101.402[deg]	[grasp_sample.py: 539]
+05/12 03:04:17 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 03:04:17 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 03:04:17 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:04:18 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 03:04:42 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 03:04:48 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:04:58 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 03:05:03 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:05:11 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_003	[pipeline.py: 1174]
+05/12 03:05:11 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/12 03:05:11 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 03:05:13 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:05:21 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 03:05:25 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:05:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 03:05:29 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_003	[save_utils.py: 785]
+05/12 03:05:29 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 17.78s (batch: 4.90s, save: 12.88s)	[pipeline.py: 300]
+05/12 03:05:30 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.56s:
+  episode_total: mean=199.27s, total=199.27s, count=1, min=199274.8ms, max=199274.8ms
+  sensor_polling: mean=462.1ms, total=138.62s, count=300, min=396.1ms, max=850.9ms
+  save_trajectories: mean=12.88s, total=12.88s, count=1, min=12881.2ms, max=12881.2ms
+  physics_step: mean=27.8ms, total=8.33s, count=300, min=17.2ms, max=40.7ms
+  save_batch_prep: mean=4.90s, total=4.90s, count=1, min=4897.6ms, max=4897.6ms
+  task_sampling: mean=560.2ms, total=560.2ms, count=1, min=560.2ms, max=560.2ms
+  task_specific_sample: mean=555.9ms, total=555.9ms, count=1, min=555.9ms, max=555.9ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=451.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=16.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 03:05:30 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 03:05:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 03:05:31 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 03:05:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 03:05:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:05:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:05:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:05:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:05:31 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 03:05:31 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 03:05:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 03:05:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.037m, effective arm-mount z=0.897m (base_body_z=0.037m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 03:05:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 03:05:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 03:05:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.036656m	[env.py: 870]
+05/12 03:05:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 03:05:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 03:05:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 03:05:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.88040013  0.35114319  0.03665564] yaw=141.8deg	[env.py: 1019]
+05/12 03:05:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 03:05:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 75.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:05:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 114.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:05:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.85557782  0.78033367  0.03665564] yaw=-127.9deg	[env.py: 1019]
+05/12 03:05:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 03:05:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 119.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:05:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.89098711  1.05199009  0.03665564] yaw=-178.0deg	[env.py: 1019]
+05/12 03:05:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 03:05:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 03:05:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=253.2ms, total=253.2ms	[env.py: 1075]
+05/12 03:05:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.880, 0.351, 0.037)	[env.py: 1079]
+05/12 03:05:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 141.8 deg	[env.py: 1082]
+05/12 03:05:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.832m	[env.py: 1086]
+05/12 03:05:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:05:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:05:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:05:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:05:32 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 03:05:32 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/12 03:05:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.119s	[base_object_manipulation_planner_policy.py: 377]
+05/12 03:05:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 03:05:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 03:05:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.087s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 03:05:33 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.752s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 03:05:33 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.491[m] 91.643[deg]	[grasp_sample.py: 539]
+05/12 03:05:33 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 03:05:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 03:05:33 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:05:34 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 03:06:01 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_003	[pipeline.py: 1174]
+05/12 03:06:01 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/12 03:06:01 INFO: [Worker 0] Preparing episode data: 300 timesteps	[save_utils.py: 278]
+05/12 03:06:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 03:06:18 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_003	[save_utils.py: 785]
+05/12 03:06:18 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 16.38s (batch: 4.62s, save: 11.76s)	[pipeline.py: 300]
+05/12 03:06:18 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=1.01s:
+  episode_total: mean=178.20s, total=356.41s, count=2, min=157188.6ms, max=199220.2ms
+  sensor_polling: mean=431.6ms, total=258.07s, count=598, min=373.1ms, max=910.5ms
+  physics_step: mean=27.3ms, total=16.31s, count=598, min=17.2ms, max=57.6ms
+  save_trajectories: mean=11.76s, total=11.76s, count=1, min=11762.7ms, max=11762.7ms
+  save_batch_prep: mean=4.62s, total=4.62s, count=1, min=4617.6ms, max=4617.6ms
+  task_sampling: mean=502.5ms, total=1.01s, count=2, min=418.3ms, max=586.7ms
+  task_specific_sample: mean=498.7ms, total=997.5ms, count=2, min=414.9ms, max=582.6ms
+  scene_randomize: mean=2.1ms, total=4.2ms, count=2, min=1.6ms, max=2.7ms
+  mj_forward_sync: mean=456.5us, total=0.9ms, count=2, min=0.5ms, max=0.5ms
+  policy_setup: mean=16.5us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 03:06:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 03:06:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 03:06:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 03:06:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:06:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:06:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:06:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:06:20 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 03:06:20 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: 178]
+05/12 03:06:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 03:06:20 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: 256]
+05/12 03:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 03:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 03:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.084901m	[env.py: 870]
+05/12 03:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 03:06:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 03:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 03:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 103.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -47.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 163.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -52.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -59.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:06:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=222.7ms, total=222.8ms	[env.py: 1105]
+05/12 03:06:20 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root'	[opening_task_samplers.py: 285]
+05/12 03:06:20 ERROR: [Worker 0] Worker 0 house 1 episode 13 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root	[pipeline.py: 1063]
+05/12 03:06:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 03:06:22 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 03:06:22 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 03:06:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:06:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:06:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:06:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:06:22 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 03:06:22 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: 178]
+05/12 03:06:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 03:06:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.079m, effective arm-mount z=0.939m (base_body_z=0.079m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 03:06:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 03:06:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 03:06:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.078792m	[env.py: 870]
+05/12 03:06:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 03:06:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 03:06:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 03:06:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 86.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:06:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.93963337  0.67231344  0.07879171] yaw=-167.8deg	[env.py: 1019]
+05/12 03:06:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 03:06:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.92010343  0.89387965  0.07879171] yaw=-139.3deg	[env.py: 1019]
+05/12 03:06:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 03:06:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.81390473  0.78026523  0.07879171] yaw=-121.5deg	[env.py: 1019]
+05/12 03:06:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 03:06:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 03:06:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=123.0ms, total=123.1ms	[env.py: 1075]
+05/12 03:06:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.940, 0.672, 0.079)	[env.py: 1079]
+05/12 03:06:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -167.8 deg	[env.py: 1082]
+05/12 03:06:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.786m	[env.py: 1086]
+05/12 03:06:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:06:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:06:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:06:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:06:22 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 03:06:22 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/12 03:06:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.119s	[base_object_manipulation_planner_policy.py: 377]
+05/12 03:06:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 03:06:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 03:06:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.088s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 03:06:22 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:06:23 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.926s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 03:06:23 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.350[m] 89.589[deg]	[grasp_sample.py: 539]
+05/12 03:06:23 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 03:06:24 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 03:06:24 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:06:24 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 03:06:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 03:06:34 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 03:06:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:06:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:06:36 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:06:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:06:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:06:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:06:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:06:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:06:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:06:47 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 03:06:47 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 03:06:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 03:06:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 03:06:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.094s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/12 03:06:48 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.717s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 03:06:48 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.033[m] 0.159[deg]	[grasp_sample.py: 539]
+05/12 03:06:49 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/12 03:06:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 03:06:51 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 03:06:51 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 03:06:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:06:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:06:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:06:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:06:51 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 03:06:51 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 03:06:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 03:06:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.027m, effective arm-mount z=0.887m (base_body_z=0.027m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 03:06:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 03:06:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 03:06:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.027092m	[env.py: 870]
+05/12 03:06:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 03:06:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 03:06:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 03:06:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -37.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:06:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.8018779  -0.00243701  0.02709167] yaw=147.2deg	[env.py: 1019]
+05/12 03:06:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 03:06:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 108.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:06:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -74.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:06:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -32.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:06:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.73882357  0.19724783  0.02709167] yaw=203.5deg	[env.py: 1019]
+05/12 03:06:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 03:06:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.85734246  0.75146744  0.02709167] yaw=-169.0deg	[env.py: 1019]
+05/12 03:06:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 03:06:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 03:06:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=183.4ms, total=183.5ms	[env.py: 1075]
+05/12 03:06:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.802, -0.002, 0.027)	[env.py: 1079]
+05/12 03:06:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 147.2 deg	[env.py: 1082]
+05/12 03:06:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.023m	[env.py: 1086]
+05/12 03:06:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:06:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:06:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:06:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:06:52 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 03:06:52 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/12 03:06:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.092s	[base_object_manipulation_planner_policy.py: 377]
+05/12 03:06:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 03:06:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 03:06:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.089s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 03:06:55 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:06:58 INFO: [Worker 0] Feasibility-checked 88 grasps in 6.603s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 03:06:58 INFO: [Worker 0] Feasible grasp found 40 (originally 40): w/ 0.550[m] 81.178[deg]	[grasp_sample.py: 539]
+05/12 03:06:59 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 03:06:59 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 03:06:59 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:07:00 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 03:07:00 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_003	[pipeline.py: 1174]
+05/12 03:07:00 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/12 03:07:00 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 03:07:05 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 03:07:09 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:07:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 03:07:17 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_003	[save_utils.py: 785]
+05/12 03:07:17 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 16.90s (batch: 4.42s, save: 12.48s)	[pipeline.py: 300]
+05/12 03:07:18 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.42s:
+  episode_total: mean=196.36s, total=196.36s, count=1, min=196357.9ms, max=196357.9ms
+  sensor_polling: mean=465.7ms, total=139.70s, count=300, min=393.9ms, max=873.7ms
+  save_trajectories: mean=12.48s, total=12.48s, count=1, min=12484.6ms, max=12484.6ms
+  physics_step: mean=27.8ms, total=8.34s, count=300, min=21.9ms, max=51.4ms
+  save_batch_prep: mean=4.42s, total=4.42s, count=1, min=4417.4ms, max=4417.4ms
+  task_sampling: mean=420.5ms, total=420.5ms, count=1, min=420.5ms, max=420.5ms
+  task_specific_sample: mean=416.2ms, total=416.2ms, count=1, min=416.2ms, max=416.2ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=464.9us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=19.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 03:07:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 03:07:19 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 03:07:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 03:07:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:07:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:07:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:07:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:07:19 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 03:07:19 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 03:07:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 03:07:19 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: 256]
+05/12 03:07:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 03:07:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 03:07:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.031448m	[env.py: 870]
+05/12 03:07:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 03:07:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 03:07:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 03:07:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -40.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:07:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -60.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:07:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -55.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:07:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 88.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:07:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 60.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:07:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.89568778  0.50409817  0.03144773] yaw=-150.3deg	[env.py: 1019]
+05/12 03:07:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 03:07:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 03:07:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=229.2ms, total=229.2ms	[env.py: 1075]
+05/12 03:07:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.896, 0.504, 0.031)	[env.py: 1079]
+05/12 03:07:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -150.3 deg	[env.py: 1082]
+05/12 03:07:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.807m	[env.py: 1086]
+05/12 03:07:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:07:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:07:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:07:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:07:20 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 03:07:20 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/12 03:07:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s	[base_object_manipulation_planner_policy.py: 377]
+05/12 03:07:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 03:07:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 03:07:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 03:07:21 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.100s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 03:07:21 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.429[m] 87.453[deg]	[grasp_sample.py: 539]
+05/12 03:07:21 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 03:07:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 03:07:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:07:22 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 03:07:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:07:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:07:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:07:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:07:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:07:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:07:48 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:07:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:07:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:07:50 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 03:07:50 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 03:07:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 03:07:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 03:07:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.107s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/12 03:07:51 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.674s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 03:07:51 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.033[m] 0.275[deg]	[grasp_sample.py: 539]
+05/12 03:07:52 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/12 03:07:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 03:07:54 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 03:07:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 03:07:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:07:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:07:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:07:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:07:54 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 03:07:54 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 03:07:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 03:07:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.032m, effective arm-mount z=0.892m (base_body_z=0.032m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 03:07:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 03:07:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 03:07:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.032192m	[env.py: 870]
+05/12 03:07:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 03:07:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 03:07:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 03:07:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 63.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:07:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 161.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:07:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.89572174  0.36920874  0.03219178] yaw=134.9deg	[env.py: 1019]
+05/12 03:07:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 03:07:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.66212535  0.80165169  0.03219178] yaw=-197.9deg	[env.py: 1019]
+05/12 03:07:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 03:07:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 75.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:07:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 03:07:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=264.3ms, total=264.3ms	[env.py: 1075]
+05/12 03:07:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.896, 0.369, 0.032)	[env.py: 1079]
+05/12 03:07:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 134.9 deg	[env.py: 1082]
+05/12 03:07:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.814m	[env.py: 1086]
+05/12 03:07:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:07:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:07:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:07:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:07:55 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 03:07:55 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/12 03:07:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
+05/12 03:07:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 03:07:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 03:07:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 03:07:56 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.877s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 03:07:56 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.515[m] 95.334[deg]	[grasp_sample.py: 539]
+05/12 03:07:56 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 03:07:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 03:07:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:07:57 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 03:07:57 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 03:08:01 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:08:02 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:08:12 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 03:08:16 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:08:46 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:08:46 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 03:08:54 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 03:08:59 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:09:17 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_003	[pipeline.py: 1174]
+05/12 03:09:17 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/12 03:09:17 INFO: [Worker 0] Preparing episode data: 293 timesteps	[save_utils.py: 278]
+05/12 03:09:24 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 03:09:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 03:09:33 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_003	[save_utils.py: 785]
+05/12 03:09:33 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 15.61s (batch: 4.35s, save: 11.26s)	[pipeline.py: 300]
+05/12 03:09:33 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.46s:
+  episode_total: mean=96.03s, total=192.05s, count=2, min=235.8ms, max=191818.6ms
+  sensor_polling: mean=444.8ms, total=129.89s, count=292, min=376.3ms, max=854.7ms
+  save_trajectories: mean=11.26s, total=11.26s, count=1, min=11263.3ms, max=11263.3ms
+  physics_step: mean=29.0ms, total=8.47s, count=292, min=21.9ms, max=78.3ms
+  save_batch_prep: mean=4.35s, total=4.35s, count=1, min=4348.2ms, max=4348.2ms
+  task_specific_sample: mean=342.4ms, total=684.8ms, count=2, min=229.3ms, max=455.5ms
+  task_sampling: mean=459.3ms, total=459.3ms, count=1, min=459.3ms, max=459.3ms
+  task_sampling_failed: mean=235.7ms, total=235.7ms, count=1, min=235.7ms, max=235.7ms
+  scene_randomize: mean=2.0ms, total=4.0ms, count=2, min=1.4ms, max=2.5ms
+  mj_forward_sync: mean=523.4us, total=1.0ms, count=2, min=0.5ms, max=0.6ms
+  policy_setup: mean=21.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 03:09:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 03:09:35 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 03:09:35 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 03:09:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:09:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:09:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:09:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:09:35 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 03:09:35 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: 178]
+05/12 03:09:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 03:09:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.007m, effective arm-mount z=0.867m (base_body_z=0.007m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 03:09:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 03:09:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 03:09:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.007279m	[env.py: 870]
+05/12 03:09:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 03:09:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 03:09:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 03:09:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -174.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:09:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -71.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:09:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -29.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:09:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -55.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:09:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 107.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:09:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.81132722  1.03282823  0.00727919] yaw=-125.3deg	[env.py: 1019]
+05/12 03:09:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 03:09:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 03:09:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=235.1ms, total=235.2ms	[env.py: 1075]
+05/12 03:09:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.811, 1.033, 0.007)	[env.py: 1079]
+05/12 03:09:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -125.3 deg	[env.py: 1082]
+05/12 03:09:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.048m	[env.py: 1086]
+05/12 03:09:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:09:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:09:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:09:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:09:36 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 03:09:36 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/12 03:09:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.116s	[base_object_manipulation_planner_policy.py: 377]
+05/12 03:09:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 03:09:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 03:09:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 03:09:39 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.724s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 03:09:39 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.702[m] 99.689[deg]	[grasp_sample.py: 539]
+05/12 03:09:39 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 03:09:39 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 03:09:39 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:09:40 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 03:09:50 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 03:09:54 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_003	[pipeline.py: 1174]
+05/12 03:09:55 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/12 03:09:55 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 03:10:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:10:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 03:10:10 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_003	[save_utils.py: 785]
+05/12 03:10:10 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 15.53s (batch: 4.57s, save: 10.96s)	[pipeline.py: 300]
+05/12 03:10:11 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.95s:
+  episode_total: mean=176.90s, total=353.79s, count=2, min=154263.5ms, max=199529.3ms
+  sensor_polling: mean=447.4ms, total=256.79s, count=574, min=398.7ms, max=893.6ms
+  physics_step: mean=26.6ms, total=15.27s, count=574, min=21.8ms, max=64.8ms
+  save_trajectories: mean=10.96s, total=10.96s, count=1, min=10957.4ms, max=10957.4ms
+  save_batch_prep: mean=4.57s, total=4.57s, count=1, min=4573.0ms, max=4573.0ms
+  task_sampling: mean=476.4ms, total=952.8ms, count=2, min=441.1ms, max=511.7ms
+  task_specific_sample: mean=472.0ms, total=944.0ms, count=2, min=437.1ms, max=507.0ms
+  scene_randomize: mean=2.6ms, total=5.2ms, count=2, min=2.2ms, max=3.0ms
+  mj_forward_sync: mean=533.7us, total=1.1ms, count=2, min=0.5ms, max=0.6ms
+  policy_setup: mean=15.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 03:10:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:10:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 03:10:12 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 03:10:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 03:10:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:10:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:10:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:10:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:10:12 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 03:10:12 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: 178]
+05/12 03:10:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 03:10:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.074m, effective arm-mount z=0.934m (base_body_z=0.074m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 03:10:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 03:10:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 03:10:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.074419m	[env.py: 870]
+05/12 03:10:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 03:10:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 03:10:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 03:10:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 124.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:10:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 94.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:10:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 90.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:10:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -49.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:10:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 65.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:10:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=196.9ms, total=197.0ms	[env.py: 1105]
+05/12 03:10:12 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root'	[opening_task_samplers.py: 285]
+05/12 03:10:12 ERROR: [Worker 0] Worker 0 house 1 episode 14 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root	[pipeline.py: 1063]
+05/12 03:10:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:10:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 03:10:14 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 03:10:14 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 03:10:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:10:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:10:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:10:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:10:14 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 03:10:14 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 03:10:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 03:10:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.005m, effective arm-mount z=0.865m (base_body_z=0.005m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 03:10:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 03:10:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 03:10:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.005023m	[env.py: 870]
+05/12 03:10:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 03:10:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 03:10:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 03:10:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -53.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:10:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.86503759  0.10185603  0.00502295] yaw=154.1deg	[env.py: 1019]
+05/12 03:10:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 03:10:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.91371822  0.13713591  0.00502295] yaw=155.1deg	[env.py: 1019]
+05/12 03:10:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 03:10:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 177.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:10:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.97277774  0.94829514  0.00502295] yaw=-122.4deg	[env.py: 1019]
+05/12 03:10:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 03:10:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 03:10:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=110.5ms, total=110.6ms	[env.py: 1075]
+05/12 03:10:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.865, 0.102, 0.005)	[env.py: 1079]
+05/12 03:10:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 154.1 deg	[env.py: 1082]
+05/12 03:10:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.920m	[env.py: 1086]
+05/12 03:10:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:10:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:10:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:10:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:10:14 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 03:10:14 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/12 03:10:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.110s	[base_object_manipulation_planner_policy.py: 377]
+05/12 03:10:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 03:10:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 03:10:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.086s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 03:10:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:10:16 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.848s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 03:10:16 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.501[m] 96.045[deg]	[grasp_sample.py: 539]
+05/12 03:10:16 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 03:10:16 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 03:10:16 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:10:16 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_003	[pipeline.py: 1174]
+05/12 03:10:16 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/12 03:10:16 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 03:10:16 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 03:10:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:10:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 03:10:31 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_003	[save_utils.py: 785]
+05/12 03:10:31 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 14.72s (batch: 4.02s, save: 10.70s)	[pipeline.py: 300]
+05/12 03:10:32 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.58s:
+  episode_total: mean=192.43s, total=192.43s, count=1, min=192425.1ms, max=192425.1ms
+  sensor_polling: mean=458.8ms, total=137.64s, count=300, min=392.3ms, max=846.9ms
+  save_trajectories: mean=10.70s, total=10.70s, count=1, min=10700.6ms, max=10700.6ms
+  physics_step: mean=27.9ms, total=8.37s, count=300, min=18.5ms, max=55.4ms
+  save_batch_prep: mean=4.02s, total=4.02s, count=1, min=4019.8ms, max=4019.8ms
+  task_sampling: mean=579.6ms, total=579.6ms, count=1, min=579.6ms, max=579.6ms
+  task_specific_sample: mean=574.7ms, total=574.7ms, count=1, min=574.7ms, max=574.7ms
+  scene_randomize: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms
+  mj_forward_sync: mean=619.9us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=16.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 03:10:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 03:10:33 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 03:10:33 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 03:10:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:10:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:10:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:10:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:10:33 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 03:10:33 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 03:10:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 03:10:33 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: 256]
+05/12 03:10:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 03:10:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 03:10:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.030866m	[env.py: 870]
+05/12 03:10:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 03:10:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 03:10:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 03:10:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.83540844  0.5104112   0.03086597] yaw=-195.4deg	[env.py: 1019]
+05/12 03:10:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 03:10:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 76.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:10:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.64529212  0.77564749  0.03086597] yaw=-142.5deg	[env.py: 1019]
+05/12 03:10:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 03:10:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 102.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:10:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.7147907   0.23486978  0.03086597] yaw=178.1deg	[env.py: 1019]
+05/12 03:10:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 03:10:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 03:10:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=120.5ms, total=120.5ms	[env.py: 1075]
+05/12 03:10:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.835, 0.510, 0.031)	[env.py: 1079]
+05/12 03:10:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -195.4 deg	[env.py: 1082]
+05/12 03:10:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.867m	[env.py: 1086]
+05/12 03:10:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:10:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:10:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:10:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:10:34 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 03:10:34 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/12 03:10:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.109s	[base_object_manipulation_planner_policy.py: 377]
+05/12 03:10:34 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]
+05/12 03:10:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 03:10:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.087s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 03:10:34 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.765s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 03:10:34 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.439[m] 91.246[deg]	[grasp_sample.py: 539]
+05/12 03:10:35 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 03:10:35 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 03:10:35 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:10:35 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 03:10:43 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:10:47 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 03:10:52 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 03:10:57 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:11:04 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:11:14 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 03:11:16 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:11:16 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_003	[pipeline.py: 1174]
+05/12 03:11:16 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/12 03:11:16 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 03:11:19 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:11:25 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 03:11:29 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:11:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 03:11:33 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_003	[save_utils.py: 785]
+05/12 03:11:33 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 16.57s (batch: 4.79s, save: 11.78s)	[pipeline.py: 300]
+05/12 03:11:34 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=1.21s:
+  episode_total: mean=180.30s, total=360.61s, count=2, min=141164.7ms, max=219443.4ms
+  sensor_polling: mean=461.9ms, total=248.97s, count=539, min=397.4ms, max=859.5ms
+  physics_step: mean=26.0ms, total=14.02s, count=539, min=16.9ms, max=36.4ms
+  save_trajectories: mean=11.78s, total=11.78s, count=1, min=11779.9ms, max=11779.9ms
+  save_batch_prep: mean=4.79s, total=4.79s, count=1, min=4792.4ms, max=4792.4ms
+  task_sampling: mean=602.7ms, total=1.21s, count=2, min=584.3ms, max=621.0ms
+  task_specific_sample: mean=598.8ms, total=1.20s, count=2, min=580.9ms, max=616.6ms
+  scene_randomize: mean=2.2ms, total=4.4ms, count=2, min=1.4ms, max=3.0ms
+  mj_forward_sync: mean=467.7us, total=0.9ms, count=2, min=0.5ms, max=0.5ms
+  policy_setup: mean=18.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 03:11:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 03:11:35 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 03:11:35 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 03:11:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:11:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:11:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:11:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:11:35 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 03:11:35 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: 178]
+05/12 03:11:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 03:11:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.027m, effective arm-mount z=0.887m (base_body_z=0.027m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 03:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 03:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 03:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.027007m	[env.py: 870]
+05/12 03:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 03:11:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 03:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 03:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.99066858  1.26851639  0.02700691] yaw=-161.7deg	[env.py: 1019]
+05/12 03:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 03:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.95134649  1.00445371  0.02700691] yaw=-151.2deg	[env.py: 1019]
+05/12 03:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 03:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 90.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 91.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 118.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.91212948  1.06040092  0.02700691] yaw=-166.6deg	[env.py: 1019]
+05/12 03:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 03:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 03:11:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=187.5ms, total=187.5ms	[env.py: 1075]
+05/12 03:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.991, 1.269, 0.027)	[env.py: 1079]
+05/12 03:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -161.7 deg	[env.py: 1082]
+05/12 03:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.061m	[env.py: 1086]
+05/12 03:11:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:11:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:11:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:11:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:11:36 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 03:11:36 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/12 03:11:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.123s	[base_object_manipulation_planner_policy.py: 377]
+05/12 03:11:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 03:11:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 03:11:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.087s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 03:11:38 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.661s, found feasible grasp: False	[grasp_sample.py: 500]
+05/12 03:11:38 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/12 03:11:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 03:11:40 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 03:11:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 03:11:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:11:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:11:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:11:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:11:40 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 03:11:40 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 03:11:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 03:11:40 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: 256]
+05/12 03:11:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 03:11:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 03:11:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.078160m	[env.py: 870]
+05/12 03:11:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 03:11:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 03:11:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 03:11:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 65.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:11:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -34.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:11:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.01926564  1.15903017  0.07815965] yaw=-138.6deg	[env.py: 1019]
+05/12 03:11:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 03:11:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -56.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:11:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.93472649  0.46231039  0.07815965] yaw=150.6deg	[env.py: 1019]
+05/12 03:11:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 03:11:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.73781958  0.61461797  0.07815965] yaw=-172.9deg	[env.py: 1019]
+05/12 03:11:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 03:11:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 03:11:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=468.5ms, total=468.6ms	[env.py: 1075]
+05/12 03:11:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.019, 1.159, 0.078)	[env.py: 1079]
+05/12 03:11:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -138.6 deg	[env.py: 1082]
+05/12 03:11:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.962m	[env.py: 1086]
+05/12 03:11:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:11:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:11:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:11:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:11:41 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 03:11:41 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/12 03:11:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s	[base_object_manipulation_planner_policy.py: 377]
+05/12 03:11:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 03:11:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 03:11:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 03:11:44 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.693s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 03:11:44 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.573[m] 80.010[deg]	[grasp_sample.py: 539]
+05/12 03:11:45 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/12 03:11:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 03:11:47 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 03:11:47 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 03:11:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:11:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:11:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:11:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:11:47 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 03:11:47 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 03:11:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 03:11:47 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: 256]
+05/12 03:11:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 03:11:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 03:11:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.029351m	[env.py: 870]
+05/12 03:11:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 03:11:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 03:11:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 03:11:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -53.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:11:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -179.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:11:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.8704987   1.01937611  0.02935131] yaw=-167.8deg	[env.py: 1019]
+05/12 03:11:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 03:11:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -33.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:11:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 75.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:11:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.9183662   1.21407569  0.02935131] yaw=-108.0deg	[env.py: 1019]
+05/12 03:11:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 03:11:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 03:11:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=190.8ms, total=190.9ms	[env.py: 1075]
+05/12 03:11:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.870, 1.019, 0.029)	[env.py: 1079]
+05/12 03:11:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -167.8 deg	[env.py: 1082]
+05/12 03:11:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.990m	[env.py: 1086]
+05/12 03:11:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:11:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:11:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:11:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:11:47 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 03:11:47 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/12 03:11:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s	[base_object_manipulation_planner_policy.py: 377]
+05/12 03:11:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 03:11:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 03:11:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.088s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 03:11:50 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.616s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 03:11:50 INFO: [Worker 0] Feasible grasp found 213 (originally 98): w/ 0.640[m] 91.025[deg]	[grasp_sample.py: 539]
+05/12 03:11:50 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 03:11:51 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 03:11:51 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:11:58 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 03:12:28 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_003	[pipeline.py: 1174]
+05/12 03:12:28 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/12 03:12:28 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 03:12:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:12:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:12:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:12:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 03:12:43 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_003	[save_utils.py: 785]
+05/12 03:12:43 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 15.14s (batch: 4.31s, save: 10.83s)	[pipeline.py: 300]
+05/12 03:12:44 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.55s:
+  episode_total: mean=188.79s, total=188.79s, count=1, min=188788.0ms, max=188788.0ms
+  sensor_polling: mean=426.2ms, total=127.87s, count=300, min=367.6ms, max=912.5ms
+  save_trajectories: mean=10.83s, total=10.83s, count=1, min=10827.1ms, max=10827.1ms
+  physics_step: mean=27.0ms, total=8.09s, count=300, min=17.0ms, max=77.5ms
+  save_batch_prep: mean=4.31s, total=4.31s, count=1, min=4313.3ms, max=4313.3ms
+  task_sampling: mean=550.1ms, total=550.1ms, count=1, min=550.1ms, max=550.1ms
+  task_specific_sample: mean=546.1ms, total=546.1ms, count=1, min=546.1ms, max=546.1ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=459.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=17.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 03:12:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:12:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 03:12:45 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 03:12:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 03:12:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:12:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:12:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:12:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:12:45 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 03:12:45 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 03:12:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 03:12:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.030m, effective arm-mount z=0.890m (base_body_z=0.030m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 03:12:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 03:12:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 03:12:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.029776m	[env.py: 870]
+05/12 03:12:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 03:12:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 03:12:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 03:12:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 167.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:12:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -169.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:12:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 103.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:12:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -71.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:12:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 161.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:12:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.12450443  1.01936205  0.02977555] yaw=-142.8deg	[env.py: 1019]
+05/12 03:12:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 03:12:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.08696099  1.05739985  0.02977555] yaw=-142.7deg	[env.py: 1019]
+05/12 03:12:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 03:12:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 03:12:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=189.5ms, total=189.5ms	[env.py: 1075]
+05/12 03:12:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.125, 1.019, 0.030)	[env.py: 1079]
+05/12 03:12:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -142.8 deg	[env.py: 1082]
+05/12 03:12:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.789m	[env.py: 1086]
+05/12 03:12:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:12:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:12:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:12:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:12:46 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 03:12:46 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/12 03:12:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.118s	[base_object_manipulation_planner_policy.py: 377]
+05/12 03:12:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 03:12:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 03:12:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 03:12:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:12:47 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.019s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 03:12:47 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.410[m] 98.680[deg]	[grasp_sample.py: 539]
+05/12 03:12:47 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 03:12:48 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 03:12:48 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:12:48 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 03:12:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:12:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:12:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:12:52 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 03:12:52 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 03:12:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 03:12:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 03:12:52 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:12:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.081s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/12 03:12:53 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.676s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 03:12:53 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.033[m] 0.655[deg]	[grasp_sample.py: 539]
+05/12 03:12:53 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 03:12:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 03:12:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:12:59 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:13:00 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 03:13:02 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 03:13:06 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 03:13:06 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:13:09 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/12 03:13:09 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 03:13:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 03:13:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 03:13:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 84 non-colliding grasps	[grasp_sample.py: 465]
+05/12 03:13:10 INFO: [Worker 0] Feasibility-checked 84 grasps in 0.758s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 03:13:10 INFO: [Worker 0] Feasible grasp found 208 (originally 93): w/ 0.119[m] 0.955[deg]	[grasp_sample.py: 539]
+05/12 03:13:10 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 03:13:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 03:13:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:13:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:13:26 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:13:27 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_003	[pipeline.py: 1174]
+05/12 03:13:27 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/12 03:13:27 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 03:13:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 03:13:35 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 03:13:35 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_003	[pipeline.py: 1174]
+05/12 03:13:35 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/12 03:13:35 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 03:13:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:13:40 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:13:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 03:13:42 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_003	[save_utils.py: 785]
+05/12 03:13:42 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 15.39s (batch: 4.17s, save: 11.21s)	[pipeline.py: 300]
+05/12 03:13:43 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.43s:
+  episode_total: mean=190.02s, total=190.02s, count=1, min=190023.7ms, max=190023.7ms
+  sensor_polling: mean=448.4ms, total=134.53s, count=300, min=401.1ms, max=895.0ms
+  save_trajectories: mean=11.21s, total=11.21s, count=1, min=11212.0ms, max=11212.0ms
+  physics_step: mean=26.9ms, total=8.06s, count=300, min=21.9ms, max=37.8ms
+  save_batch_prep: mean=4.17s, total=4.17s, count=1, min=4173.1ms, max=4173.1ms
+  task_sampling: mean=428.4ms, total=428.4ms, count=1, min=428.4ms, max=428.4ms
+  task_specific_sample: mean=423.9ms, total=423.9ms, count=1, min=423.9ms, max=423.9ms
+  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
+  mj_forward_sync: mean=466.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=16.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 03:13:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 03:13:45 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 03:13:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 03:13:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:13:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:13:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:13:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:13:45 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 03:13:45 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 03:13:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 03:13:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.060m, effective arm-mount z=0.920m (base_body_z=0.060m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 03:13:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 03:13:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 03:13:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.060255m	[env.py: 870]
+05/12 03:13:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 03:13:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 03:13:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 03:13:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.89152891  0.54613511  0.06025546] yaw=-183.9deg	[env.py: 1019]
+05/12 03:13:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 03:13:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -65.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:13:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 161.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:13:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 89.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:13:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -61.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:13:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.99709341  1.30748422  0.06025546] yaw=-147.1deg	[env.py: 1019]
+05/12 03:13:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 03:13:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 03:13:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=217.4ms, total=217.5ms	[env.py: 1075]
+05/12 03:13:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.892, 0.546, 0.060)	[env.py: 1079]
+05/12 03:13:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -183.9 deg	[env.py: 1082]
+05/12 03:13:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.813m	[env.py: 1086]
+05/12 03:13:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:13:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:13:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:13:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:13:45 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 03:13:45 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/12 03:13:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.121s	[base_object_manipulation_planner_policy.py: 377]
+05/12 03:13:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 03:13:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 03:13:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.091s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 03:13:46 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.741s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 03:13:46 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.389[m] 93.319[deg]	[grasp_sample.py: 539]
+05/12 03:13:46 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 03:13:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 03:13:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:13:47 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 03:13:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 03:13:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_003	[save_utils.py: 785]
+05/12 03:13:51 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 15.29s (batch: 4.88s, save: 10.41s)	[pipeline.py: 300]
+05/12 03:13:51 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.42s:
+  episode_total: mean=108.76s, total=217.52s, count=2, min=210.6ms, max=217312.8ms
+  sensor_polling: mean=455.5ms, total=136.64s, count=300, min=398.3ms, max=913.5ms
+  save_trajectories: mean=10.41s, total=10.41s, count=1, min=10405.2ms, max=10405.2ms
+  physics_step: mean=26.8ms, total=8.04s, count=300, min=16.7ms, max=77.6ms
+  save_batch_prep: mean=4.88s, total=4.88s, count=1, min=4884.7ms, max=4884.7ms
+  task_specific_sample: mean=309.7ms, total=619.4ms, count=2, min=203.6ms, max=415.8ms
+  task_sampling: mean=419.4ms, total=419.4ms, count=1, min=419.4ms, max=419.4ms
+  task_sampling_failed: mean=210.6ms, total=210.6ms, count=1, min=210.6ms, max=210.6ms
+  scene_randomize: mean=2.2ms, total=4.5ms, count=2, min=1.6ms, max=2.9ms
+  mj_forward_sync: mean=550.1us, total=1.1ms, count=2, min=0.5ms, max=0.6ms
+  policy_setup: mean=16.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 03:13:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 03:13:53 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 03:13:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 03:13:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:13:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:13:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:13:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:13:53 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 03:13:53 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 03:13:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 03:13:53 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: 256]
+05/12 03:13:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 03:13:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 03:13:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.092288m	[env.py: 870]
+05/12 03:13:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 03:13:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 03:13:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 03:13:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 59.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:13:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.99692774  1.19939732  0.09228814] yaw=-96.5deg	[env.py: 1019]
+05/12 03:13:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 03:13:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 119.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:13:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 114.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:13:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.61412769  0.39599395  0.09228814] yaw=165.6deg	[env.py: 1019]
+05/12 03:13:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 03:13:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.9453536   0.66579246  0.09228814] yaw=-145.2deg	[env.py: 1019]
+05/12 03:13:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 03:13:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 03:13:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=151.7ms, total=151.8ms	[env.py: 1075]
+05/12 03:13:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.997, 1.199, 0.092)	[env.py: 1079]
+05/12 03:13:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -96.5 deg	[env.py: 1082]
+05/12 03:13:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.006m	[env.py: 1086]
+05/12 03:13:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:13:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:13:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:13:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:13:53 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 03:13:53 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/12 03:13:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.120s	[base_object_manipulation_planner_policy.py: 377]
+05/12 03:13:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 03:13:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 03:13:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.087s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 03:13:58 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.442s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 03:13:58 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.699[m] 105.476[deg]	[grasp_sample.py: 539]
+05/12 03:13:58 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 03:13:59 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 03:13:59 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:13:59 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 03:14:21 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/12 03:14:21 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=False episode_total=1.75s:
+  episode_total: mean=54.27s, total=162.82s, count=3, min=3418.4ms, max=154480.2ms
+  sensor_polling: mean=464.1ms, total=139.24s, count=300, min=392.2ms, max=876.4ms
+  physics_step: mean=26.4ms, total=7.91s, count=300, min=17.6ms, max=35.0ms
+  task_sampling: mean=584.3ms, total=1.75s, count=3, min=473.4ms, max=749.7ms
+  task_specific_sample: mean=580.6ms, total=1.74s, count=3, min=469.8ms, max=746.0ms
+  scene_randomize: mean=1.8ms, total=5.5ms, count=3, min=1.4ms, max=2.6ms
+  mj_forward_sync: mean=560.1us, total=1.7ms, count=3, min=0.5ms, max=0.6ms
+  policy_setup: mean=29.0us, total=0.1ms, count=3, min=0.0ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 03:14:23 WARNING: [Worker 0] No trajectory data to save for chunk_003	[pipeline.py: 234]
+05/12 03:14:23 WARNING: [Worker 0] No trajectory data to save for chunk_003	[pipeline.py: 234]
+05/12 03:14:23 INFO: [Worker 0] Worker 0 completed house 1: 11/12 successful episodes	[pipeline.py: 1323]
+05/12 03:14:23 INFO: [Worker 0] [PROFILE] House 1 complete: 11/12 successful, 12 episodes, total_time=4841.37s
+  House averages:
+  episode_total: mean=148.65s, total=2675.78s, count=18, min=195.8ms, max=262350.2ms
+  sensor_polling: mean=457.4ms, total=1842.54s, count=4028, min=391.7ms, max=943.4ms
+  save_trajectories: mean=11.95s, total=131.50s, count=11, min=11156.6ms, max=13335.5ms
+  physics_step: mean=26.8ms, total=108.12s, count=4028, min=16.9ms, max=83.2ms
+  save_batch_prep: mean=4.59s, total=50.47s, count=11, min=4208.4ms, max=4981.7ms
+  task_sampling: mean=813.4ms, total=13.01s, count=16, min=410.5ms, max=4578.2ms
+  task_specific_sample: mean=551.3ms, total=9.92s, count=18, min=188.3ms, max=809.5ms
+  scene_load: mean=3.76s, total=3.76s, count=1, min=3764.9ms, max=3764.9ms
+  scene_env_create: mean=2.00s, total=2.00s, count=1, min=2005.0ms, max=2005.0ms
+  scene_compile: mean=1.58s, total=1.58s, count=1, min=1579.2ms, max=1579.2ms
+  compile_mujoco: mean=796.8ms, total=796.8ms, count=1, min=796.8ms, max=796.8ms
+  task_sampling_failed: mean=375.0ms, total=750.0ms, count=2, min=195.8ms, max=554.2ms
+  compile_xml_load: mean=670.2ms, total=670.2ms, count=1, min=670.2ms, max=670.2ms
+  scene_init: mean=117.1ms, total=117.1ms, count=1, min=117.1ms, max=117.1ms
+  scene_asset_install: mean=63.2ms, total=63.2ms, count=1, min=63.2ms, max=63.2ms
+  compile_aux_objects: mean=54.3ms, total=54.3ms, count=1, min=54.3ms, max=54.3ms
+  compile_aux_policy_objects: mean=54.3ms, total=54.3ms, count=1, min=54.3ms, max=54.3ms
+  asset_install_grasps: mean=47.5ms, total=47.5ms, count=1, min=47.5ms, max=47.5ms
+  compile_robot_add: mean=45.9ms, total=45.9ms, count=1, min=45.9ms, max=45.9ms
+  scene_randomize: mean=2.4ms, total=42.5ms, count=18, min=1.2ms, max=3.7ms
+  asset_install_objects: mean=11.6ms, total=11.6ms, count=1, min=11.6ms, max=11.6ms
+  mj_forward_sync: mean=516.4us, total=9.3ms, count=18, min=0.4ms, max=0.7ms
+  asset_install_scene: mean=4.1ms, total=4.1ms, count=1, min=4.1ms, max=4.1ms
+  policy_setup: mean=27.5us, total=0.4ms, count=16, min=0.0ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/12 03:14:23 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/12 03:14:23 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 12 episodes, total_time=4841.37s
+  Worker averages:
+  episode_total: mean=148.65s, total=2675.78s, count=18, min=195.8ms, max=262350.2ms
+  sensor_polling: mean=457.4ms, total=1842.54s, count=4028, min=391.7ms, max=943.4ms
+  save_trajectories: mean=11.95s, total=131.50s, count=11, min=11156.6ms, max=13335.5ms
+  physics_step: mean=26.8ms, total=108.12s, count=4028, min=16.9ms, max=83.2ms
+  save_batch_prep: mean=4.59s, total=50.47s, count=11, min=4208.4ms, max=4981.7ms
+  task_sampling: mean=813.4ms, total=13.01s, count=16, min=410.5ms, max=4578.2ms
+  task_specific_sample: mean=551.3ms, total=9.92s, count=18, min=188.3ms, max=809.5ms
+  scene_load: mean=3.76s, total=3.76s, count=1, min=3764.9ms, max=3764.9ms
+  scene_env_create: mean=2.00s, total=2.00s, count=1, min=2005.0ms, max=2005.0ms
+  scene_compile: mean=1.58s, total=1.58s, count=1, min=1579.2ms, max=1579.2ms
+  compile_mujoco: mean=796.8ms, total=796.8ms, count=1, min=796.8ms, max=796.8ms
+  task_sampling_failed: mean=375.0ms, total=750.0ms, count=2, min=195.8ms, max=554.2ms
+  compile_xml_load: mean=670.2ms, total=670.2ms, count=1, min=670.2ms, max=670.2ms
+  scene_init: mean=117.1ms, total=117.1ms, count=1, min=117.1ms, max=117.1ms
+  scene_asset_install: mean=63.2ms, total=63.2ms, count=1, min=63.2ms, max=63.2ms
+  compile_aux_objects: mean=54.3ms, total=54.3ms, count=1, min=54.3ms, max=54.3ms
+  compile_aux_policy_objects: mean=54.3ms, total=54.3ms, count=1, min=54.3ms, max=54.3ms
+  asset_install_grasps: mean=47.5ms, total=47.5ms, count=1, min=47.5ms, max=47.5ms
+  compile_robot_add: mean=45.9ms, total=45.9ms, count=1, min=45.9ms, max=45.9ms
+  scene_randomize: mean=2.4ms, total=42.5ms, count=18, min=1.2ms, max=3.7ms
+  asset_install_objects: mean=11.6ms, total=11.6ms, count=1, min=11.6ms, max=11.6ms
+  mj_forward_sync: mean=516.4us, total=9.3ms, count=18, min=0.4ms, max=0.7ms
+  asset_install_scene: mean=4.1ms, total=4.1ms, count=1, min=4.1ms, max=4.1ms
+  policy_setup: mean=27.5us, total=0.4ms, count=16, min=0.0ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/12 03:14:24 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:14:26 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/12 03:14:26 INFO: Success count: 11, Total count: 12	[pipeline.py: 1491]
+05/12 03:14:26 INFO: Success rate: 91.67%	[pipeline.py: 1492]
+05/12 03:14:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 03:14:38 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:15:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:15:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:15:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:15:05 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:15:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:15:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:15:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:15:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:15:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:15:13 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 03:15:13 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 03:15:13 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]
+05/12 03:15:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 03:15:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.088s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/12 03:15:14 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 03:15:16 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.543s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 03:15:16 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 1.081[deg]	[grasp_sample.py: 539]
+05/12 03:15:17 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/12 03:15:18 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:15:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 03:15:19 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 03:15:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 03:15:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:15:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:15:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:15:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:15:19 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 03:15:19 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 03:15:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 03:15:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.085m, effective arm-mount z=0.945m (base_body_z=0.085m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 03:15:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 03:15:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 03:15:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.084721m	[env.py: 870]
+05/12 03:15:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 03:15:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 03:15:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 03:15:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -74.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:15:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -57.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:15:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 100.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:15:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.68032747  0.61540289  0.08472133] yaw=-160.2deg	[env.py: 1019]
+05/12 03:15:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 03:15:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.85474311  0.62286687  0.08472133] yaw=-165.0deg	[env.py: 1019]
+05/12 03:15:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 03:15:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.92412357  1.08477546  0.08472133] yaw=-151.6deg	[env.py: 1019]
+05/12 03:15:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 03:15:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 03:15:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=378.8ms, total=378.8ms	[env.py: 1075]
+05/12 03:15:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.680, 0.615, 0.085)	[env.py: 1079]
+05/12 03:15:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -160.2 deg	[env.py: 1082]
+05/12 03:15:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.031m	[env.py: 1086]
+05/12 03:15:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:15:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:15:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:15:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:15:19 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 03:15:19 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/12 03:15:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s	[base_object_manipulation_planner_policy.py: 377]
+05/12 03:15:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 03:15:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 03:15:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 03:15:21 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.698s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 03:15:21 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.611[m] 93.833[deg]	[grasp_sample.py: 539]
+05/12 03:15:21 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 03:15:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 03:15:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:15:22 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 03:16:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:16:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:16:14 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:16:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:16:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:16:18 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 03:16:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:16:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:16:22 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 03:16:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:16:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:16:25 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 03:16:25 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 03:16:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 03:16:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 03:16:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/12 03:16:26 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:16:27 INFO: [Worker 0] Feasibility-checked 78 grasps in 2.609s, found feasible grasp: False	[grasp_sample.py: 500]
+05/12 03:16:27 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/12 03:16:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 03:16:29 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 03:16:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 03:16:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:16:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:16:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:16:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:16:29 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 03:16:29 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 03:16:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 03:16:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.016m, effective arm-mount z=0.876m (base_body_z=0.016m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 03:16:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 03:16:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 03:16:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.015786m	[env.py: 870]
+05/12 03:16:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 03:16:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 03:16:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 03:16:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 55.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:16:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 65.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:16:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.69175248  0.50197357  0.01578563] yaw=-145.6deg	[env.py: 1019]
+05/12 03:16:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 03:16:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -64.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:16:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -161.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:16:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.1981224   1.07413149  0.01578563] yaw=-166.1deg	[env.py: 1019]
+05/12 03:16:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 03:16:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.9108642   1.17782478  0.01578563] yaw=-102.2deg	[env.py: 1019]
+05/12 03:16:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 03:16:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 03:16:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=168.6ms, total=168.6ms	[env.py: 1075]
+05/12 03:16:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.692, 0.502, 0.016)	[env.py: 1079]
+05/12 03:16:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -145.6 deg	[env.py: 1082]
+05/12 03:16:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.011m	[env.py: 1086]
+05/12 03:16:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:16:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:16:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:16:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:16:29 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 03:16:29 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/12 03:16:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s	[base_object_manipulation_planner_policy.py: 377]
+05/12 03:16:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 03:16:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 03:16:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 03:16:30 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.077s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 03:16:30 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.653[m] 87.988[deg]	[grasp_sample.py: 539]
+05/12 03:16:31 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 03:16:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 03:16:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:16:31 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 03:16:43 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_003	[pipeline.py: 1174]
+05/12 03:16:43 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/12 03:16:43 INFO: [Worker 0] Preparing episode data: 300 timesteps	[save_utils.py: 278]
+05/12 03:16:58 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 03:16:58 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_003	[save_utils.py: 785]
+05/12 03:16:58 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 14.51s (batch: 3.81s, save: 10.70s)	[pipeline.py: 300]
+05/12 03:16:59 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.56s:
+  episode_total: mean=193.96s, total=193.96s, count=1, min=193956.1ms, max=193956.1ms
+  sensor_polling: mean=458.1ms, total=136.99s, count=299, min=400.4ms, max=890.6ms
+  save_trajectories: mean=10.70s, total=10.70s, count=1, min=10702.1ms, max=10702.1ms
+  physics_step: mean=27.4ms, total=8.19s, count=299, min=16.9ms, max=72.0ms
+  save_batch_prep: mean=3.81s, total=3.81s, count=1, min=3807.2ms, max=3807.2ms
+  task_sampling: mean=559.9ms, total=559.9ms, count=1, min=559.9ms, max=559.9ms
+  task_specific_sample: mean=555.6ms, total=555.6ms, count=1, min=555.6ms, max=555.6ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=453.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=18.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 03:17:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 03:17:00 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 03:17:00 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 03:17:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:17:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:17:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:17:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:17:00 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 03:17:00 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 03:17:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 03:17:00 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: 256]
+05/12 03:17:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 03:17:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 03:17:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.077886m	[env.py: 870]
+05/12 03:17:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 03:17:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 03:17:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 03:17:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -70.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:17:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.81104069  0.97062458  0.07788589] yaw=-173.1deg	[env.py: 1019]
+05/12 03:17:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 03:17:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 176.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:17:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 111.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:17:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.91299846  1.14663685  0.07788589] yaw=-174.4deg	[env.py: 1019]
+05/12 03:17:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 03:17:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.98037491  1.21632758  0.07788589] yaw=-173.9deg	[env.py: 1019]
+05/12 03:17:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 03:17:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 03:17:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=252.0ms, total=252.1ms	[env.py: 1075]
+05/12 03:17:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.811, 0.971, 0.078)	[env.py: 1079]
+05/12 03:17:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -173.1 deg	[env.py: 1082]
+05/12 03:17:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.016m	[env.py: 1086]
+05/12 03:17:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:17:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:17:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:17:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:17:00 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 03:17:00 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/12 03:17:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.114s	[base_object_manipulation_planner_policy.py: 377]
+05/12 03:17:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 03:17:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 03:17:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 03:17:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.585s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 03:17:03 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.635[m] 79.956[deg]	[grasp_sample.py: 539]
+05/12 03:17:03 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 03:17:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 03:17:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:17:30 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:17:32 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 03:17:39 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 03:17:43 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:18:00 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:18:02 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_003	[pipeline.py: 1174]
+05/12 03:18:02 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/12 03:18:02 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 03:18:08 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 03:18:12 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:18:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 03:18:17 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_003	[save_utils.py: 785]
+05/12 03:18:17 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 15.69s (batch: 4.60s, save: 11.10s)	[pipeline.py: 300]
+05/12 03:18:18 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=1.15s:
+  episode_total: mean=165.65s, total=331.30s, count=2, min=151704.1ms, max=179594.5ms
+  sensor_polling: mean=422.2ms, total=244.44s, count=579, min=373.2ms, max=917.5ms
+  physics_step: mean=26.1ms, total=15.14s, count=579, min=21.6ms, max=59.9ms
+  save_trajectories: mean=11.10s, total=11.10s, count=1, min=11097.5ms, max=11097.5ms
+  save_batch_prep: mean=4.60s, total=4.60s, count=1, min=4596.2ms, max=4596.2ms
+  task_sampling: mean=576.2ms, total=1.15s, count=2, min=507.8ms, max=644.6ms
+  task_specific_sample: mean=572.4ms, total=1.14s, count=2, min=503.7ms, max=641.0ms
+  scene_randomize: mean=2.0ms, total=4.0ms, count=2, min=1.4ms, max=2.7ms
+  mj_forward_sync: mean=454.6us, total=0.9ms, count=2, min=0.5ms, max=0.5ms
+  policy_setup: mean=18.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 03:18:20 WARNING: [Worker 0] No trajectory data to save for chunk_003	[pipeline.py: 234]
+05/12 03:18:20 WARNING: [Worker 0] No trajectory data to save for chunk_003	[pipeline.py: 234]
+05/12 03:18:20 INFO: [Worker 0] Worker 0 completed house 1: 11/12 successful episodes	[pipeline.py: 1323]
+05/12 03:18:20 INFO: [Worker 0] [PROFILE] House 1 complete: 11/12 successful, 12 episodes, total_time=5271.59s
+  House averages:
+  episode_total: mean=161.45s, total=2906.15s, count=18, min=235.8ms, max=229003.0ms
+  sensor_polling: mean=437.2ms, total=2031.39s, count=4646, min=367.6ms, max=917.5ms
+  physics_step: mean=27.4ms, total=127.47s, count=4646, min=15.6ms, max=93.5ms
+  save_trajectories: mean=11.57s, total=127.27s, count=11, min=10827.1ms, max=12488.2ms
+  save_batch_prep: mean=4.60s, total=50.65s, count=11, min=4313.3ms, max=4963.5ms
+  task_sampling: mean=735.2ms, total=11.76s, count=16, min=412.9ms, max=3663.4ms
+  task_specific_sample: mean=506.7ms, total=9.12s, count=18, min=229.3ms, max=834.2ms
+  scene_load: mean=3.03s, total=3.03s, count=1, min=3033.0ms, max=3033.0ms
+  scene_env_create: mean=1.78s, total=1.78s, count=1, min=1775.3ms, max=1775.3ms
+  scene_compile: mean=992.2ms, total=992.2ms, count=1, min=992.2ms, max=992.2ms
+  compile_mujoco: mean=649.6ms, total=649.6ms, count=1, min=649.6ms, max=649.6ms
+  task_sampling_failed: mean=237.3ms, total=474.6ms, count=2, min=235.7ms, max=238.9ms
+  compile_xml_load: mean=215.1ms, total=215.1ms, count=1, min=215.1ms, max=215.1ms
+  scene_init: mean=152.8ms, total=152.8ms, count=1, min=152.8ms, max=152.8ms
+  scene_asset_install: mean=112.4ms, total=112.4ms, count=1, min=112.4ms, max=112.4ms
+  compile_aux_objects: mean=91.8ms, total=91.8ms, count=1, min=91.8ms, max=91.8ms
+  compile_aux_policy_objects: mean=91.8ms, total=91.8ms, count=1, min=91.8ms, max=91.8ms
+  asset_install_grasps: mean=69.5ms, total=69.5ms, count=1, min=69.5ms, max=69.5ms
+  scene_randomize: mean=2.7ms, total=48.3ms, count=18, min=1.2ms, max=9.6ms
+  asset_install_objects: mean=39.5ms, total=39.5ms, count=1, min=39.5ms, max=39.5ms
+  compile_robot_add: mean=23.8ms, total=23.8ms, count=1, min=23.8ms, max=23.8ms
+  mj_forward_sync: mean=487.5us, total=8.8ms, count=18, min=0.4ms, max=0.6ms
+  asset_install_scene: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms
+  policy_setup: mean=27.6us, total=0.4ms, count=16, min=0.0ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/12 03:18:20 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/12 03:18:20 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 12 episodes, total_time=5271.59s
+  Worker averages:
+  episode_total: mean=161.45s, total=2906.15s, count=18, min=235.8ms, max=229003.0ms
+  sensor_polling: mean=437.2ms, total=2031.39s, count=4646, min=367.6ms, max=917.5ms
+  physics_step: mean=27.4ms, total=127.47s, count=4646, min=15.6ms, max=93.5ms
+  save_trajectories: mean=11.57s, total=127.27s, count=11, min=10827.1ms, max=12488.2ms
+  save_batch_prep: mean=4.60s, total=50.65s, count=11, min=4313.3ms, max=4963.5ms
+  task_sampling: mean=735.2ms, total=11.76s, count=16, min=412.9ms, max=3663.4ms
+  task_specific_sample: mean=506.7ms, total=9.12s, count=18, min=229.3ms, max=834.2ms
+  scene_load: mean=3.03s, total=3.03s, count=1, min=3033.0ms, max=3033.0ms
+  scene_env_create: mean=1.78s, total=1.78s, count=1, min=1775.3ms, max=1775.3ms
+  scene_compile: mean=992.2ms, total=992.2ms, count=1, min=992.2ms, max=992.2ms
+  compile_mujoco: mean=649.6ms, total=649.6ms, count=1, min=649.6ms, max=649.6ms
+  task_sampling_failed: mean=237.3ms, total=474.6ms, count=2, min=235.7ms, max=238.9ms
+  compile_xml_load: mean=215.1ms, total=215.1ms, count=1, min=215.1ms, max=215.1ms
+  scene_init: mean=152.8ms, total=152.8ms, count=1, min=152.8ms, max=152.8ms
+  scene_asset_install: mean=112.4ms, total=112.4ms, count=1, min=112.4ms, max=112.4ms
+  compile_aux_objects: mean=91.8ms, total=91.8ms, count=1, min=91.8ms, max=91.8ms
+  compile_aux_policy_objects: mean=91.8ms, total=91.8ms, count=1, min=91.8ms, max=91.8ms
+  asset_install_grasps: mean=69.5ms, total=69.5ms, count=1, min=69.5ms, max=69.5ms
+  scene_randomize: mean=2.7ms, total=48.3ms, count=18, min=1.2ms, max=9.6ms
+  asset_install_objects: mean=39.5ms, total=39.5ms, count=1, min=39.5ms, max=39.5ms
+  compile_robot_add: mean=23.8ms, total=23.8ms, count=1, min=23.8ms, max=23.8ms
+  mj_forward_sync: mean=487.5us, total=8.8ms, count=18, min=0.4ms, max=0.6ms
+  asset_install_scene: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms
+  policy_setup: mean=27.6us, total=0.4ms, count=16, min=0.0ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/12 03:18:22 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/12 03:18:22 INFO: Success count: 11, Total count: 12	[pipeline.py: 1491]
+05/12 03:18:22 INFO: Success rate: 91.67%	[pipeline.py: 1492]
+05/12 03:18:45 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 03:19:14 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_003	[pipeline.py: 1174]
+05/12 03:19:14 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/12 03:19:14 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 03:19:20 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 03:19:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 03:19:28 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_003	[save_utils.py: 785]
+05/12 03:19:28 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 14.37s (batch: 4.19s, save: 10.19s)	[pipeline.py: 300]
+05/12 03:19:29 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.96s:
+  episode_total: mean=167.21s, total=334.42s, count=2, min=154413.9ms, max=180006.8ms
+  sensor_polling: mean=424.4ms, total=250.80s, count=591, min=359.2ms, max=862.2ms
+  physics_step: mean=24.8ms, total=14.67s, count=591, min=16.9ms, max=42.8ms
+  save_trajectories: mean=10.19s, total=10.19s, count=1, min=10186.5ms, max=10186.5ms
+  save_batch_prep: mean=4.19s, total=4.19s, count=1, min=4186.9ms, max=4186.9ms
+  task_sampling: mean=478.9ms, total=957.7ms, count=2, min=441.4ms, max=516.3ms
+  task_specific_sample: mean=475.0ms, total=949.9ms, count=2, min=437.5ms, max=512.4ms
+  scene_randomize: mean=2.2ms, total=4.5ms, count=2, min=2.0ms, max=2.5ms
+  mj_forward_sync: mean=454.7us, total=0.9ms, count=2, min=0.5ms, max=0.5ms
+  policy_setup: mean=17.4us, 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]
+05/12 03:19:30 WARNING: [Worker 0] No trajectory data to save for chunk_003	[pipeline.py: 234]
+05/12 03:19:30 WARNING: [Worker 0] No trajectory data to save for chunk_003	[pipeline.py: 234]
+05/12 03:19:30 INFO: [Worker 0] Worker 0 completed house 1: 12/12 successful episodes	[pipeline.py: 1323]
+05/12 03:19:30 INFO: [Worker 0] [PROFILE] House 1 complete: 12/12 successful, 12 episodes, total_time=5374.55s
+  House averages:
+  episode_total: mean=165.65s, total=2981.62s, count=18, min=210.6ms, max=240736.5ms
+  sensor_polling: mean=449.0ms, total=2049.64s, count=4565, min=359.2ms, max=913.5ms
+  save_trajectories: mean=11.21s, total=134.47s, count=12, min=10186.5ms, max=12549.7ms
+  physics_step: mean=27.2ms, total=124.23s, count=4565, min=15.0ms, max=92.3ms
+  save_batch_prep: mean=4.46s, total=53.57s, count=12, min=4046.2ms, max=5273.3ms
+  task_sampling: mean=755.8ms, total=12.85s, count=17, min=419.4ms, max=4204.4ms
+  task_specific_sample: mean=524.6ms, total=9.44s, count=18, min=203.6ms, max=743.1ms
+  scene_load: mean=3.54s, total=3.54s, count=1, min=3537.0ms, max=3537.0ms
+  scene_env_create: mean=2.08s, total=2.08s, count=1, min=2081.2ms, max=2081.2ms
+  scene_compile: mean=1.27s, total=1.27s, count=1, min=1273.3ms, max=1273.3ms
+  compile_mujoco: mean=726.6ms, total=726.6ms, count=1, min=726.6ms, max=726.6ms
+  compile_xml_load: mean=435.1ms, total=435.1ms, count=1, min=435.1ms, max=435.1ms
+  task_sampling_failed: mean=210.6ms, total=210.6ms, count=1, min=210.6ms, max=210.6ms
+  scene_init: mean=118.1ms, total=118.1ms, count=1, min=118.1ms, max=118.1ms
+  scene_asset_install: mean=63.9ms, total=63.9ms, count=1, min=63.9ms, max=63.9ms
+  compile_aux_objects: mean=53.9ms, total=53.9ms, count=1, min=53.9ms, max=53.9ms
+  compile_aux_policy_objects: mean=53.9ms, total=53.9ms, count=1, min=53.9ms, max=53.9ms
+  compile_robot_add: mean=45.8ms, total=45.8ms, count=1, min=45.8ms, max=45.8ms
+  scene_randomize: mean=2.5ms, total=45.6ms, count=18, min=1.2ms, max=4.2ms
+  asset_install_grasps: mean=41.1ms, total=41.1ms, count=1, min=41.1ms, max=41.1ms
+  asset_install_objects: mean=13.3ms, total=13.3ms, count=1, min=13.3ms, max=13.3ms
+  asset_install_scene: mean=9.5ms, total=9.5ms, count=1, min=9.5ms, max=9.5ms
+  mj_forward_sync: mean=504.0us, total=9.1ms, count=18, min=0.4ms, max=0.7ms
+  policy_setup: mean=24.2us, total=0.4ms, count=17, min=0.0ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/12 03:19:30 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/12 03:19:30 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 12 episodes, total_time=5374.55s
+  Worker averages:
+  episode_total: mean=165.65s, total=2981.62s, count=18, min=210.6ms, max=240736.5ms
+  sensor_polling: mean=449.0ms, total=2049.64s, count=4565, min=359.2ms, max=913.5ms
+  save_trajectories: mean=11.21s, total=134.47s, count=12, min=10186.5ms, max=12549.7ms
+  physics_step: mean=27.2ms, total=124.23s, count=4565, min=15.0ms, max=92.3ms
+  save_batch_prep: mean=4.46s, total=53.57s, count=12, min=4046.2ms, max=5273.3ms
+  task_sampling: mean=755.8ms, total=12.85s, count=17, min=419.4ms, max=4204.4ms
+  task_specific_sample: mean=524.6ms, total=9.44s, count=18, min=203.6ms, max=743.1ms
+  scene_load: mean=3.54s, total=3.54s, count=1, min=3537.0ms, max=3537.0ms
+  scene_env_create: mean=2.08s, total=2.08s, count=1, min=2081.2ms, max=2081.2ms
+  scene_compile: mean=1.27s, total=1.27s, count=1, min=1273.3ms, max=1273.3ms
+  compile_mujoco: mean=726.6ms, total=726.6ms, count=1, min=726.6ms, max=726.6ms
+  compile_xml_load: mean=435.1ms, total=435.1ms, count=1, min=435.1ms, max=435.1ms
+  task_sampling_failed: mean=210.6ms, total=210.6ms, count=1, min=210.6ms, max=210.6ms
+  scene_init: mean=118.1ms, total=118.1ms, count=1, min=118.1ms, max=118.1ms
+  scene_asset_install: mean=63.9ms, total=63.9ms, count=1, min=63.9ms, max=63.9ms
+  compile_aux_objects: mean=53.9ms, total=53.9ms, count=1, min=53.9ms, max=53.9ms
+  compile_aux_policy_objects: mean=53.9ms, total=53.9ms, count=1, min=53.9ms, max=53.9ms
+  compile_robot_add: mean=45.8ms, total=45.8ms, count=1, min=45.8ms, max=45.8ms
+  scene_randomize: mean=2.5ms, total=45.6ms, count=18, min=1.2ms, max=4.2ms
+  asset_install_grasps: mean=41.1ms, total=41.1ms, count=1, min=41.1ms, max=41.1ms
+  asset_install_objects: mean=13.3ms, total=13.3ms, count=1, min=13.3ms, max=13.3ms
+  asset_install_scene: mean=9.5ms, total=9.5ms, count=1, min=9.5ms, max=9.5ms
+  mj_forward_sync: mean=504.0us, total=9.1ms, count=18, min=0.4ms, max=0.7ms
+  policy_setup: mean=24.2us, total=0.4ms, count=17, min=0.0ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/12 03:19:33 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/12 03:19:33 INFO: Success count: 12, Total count: 12	[pipeline.py: 1491]
+05/12 03:19:33 INFO: Success rate: 100.00%	[pipeline.py: 1492]
+05/12 03:19:45 INFO: [Worker 0] Saved videos eagerly for episode 13 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_003	[pipeline.py: 1174]
+05/12 03:19:45 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/12 03:19:45 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 03:19:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 03:19:59 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_003	[save_utils.py: 785]
+05/12 03:19:59 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 13.52s (batch: 3.41s, save: 10.11s)	[pipeline.py: 300]
+05/12 03:19:59 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.61s:
+  episode_total: mean=179.25s, total=179.25s, count=1, min=179251.5ms, max=179251.5ms
+  sensor_polling: mean=421.6ms, total=126.48s, count=300, min=394.3ms, max=911.0ms
+  save_trajectories: mean=10.11s, total=10.11s, count=1, min=10111.9ms, max=10111.9ms
+  physics_step: mean=24.7ms, total=7.40s, count=300, min=21.8ms, max=37.0ms
+  save_batch_prep: mean=3.41s, total=3.41s, count=1, min=3405.6ms, max=3405.6ms
+  task_sampling: mean=608.7ms, total=608.7ms, count=1, min=608.7ms, max=608.7ms
+  task_specific_sample: mean=604.6ms, total=604.6ms, count=1, min=604.6ms, max=604.6ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=462.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=21.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 03:20:00 WARNING: [Worker 0] No trajectory data to save for chunk_003	[pipeline.py: 234]
+05/12 03:20:00 WARNING: [Worker 0] No trajectory data to save for chunk_003	[pipeline.py: 234]
+05/12 03:20:00 INFO: [Worker 0] Worker 0 completed house 1: 14/14 successful episodes	[pipeline.py: 1323]
+05/12 03:20:00 INFO: [Worker 0] [PROFILE] House 1 complete: 14/14 successful, 14 episodes, total_time=5493.90s
+  House averages:
+  episode_total: mean=167.15s, total=3008.71s, count=18, min=4612.5ms, max=224903.4ms
+  sensor_polling: mean=455.3ms, total=2116.78s, count=4649, min=389.1ms, max=965.3ms
+  save_trajectories: mean=11.14s, total=155.99s, count=14, min=10111.9ms, max=12484.6ms
+  physics_step: mean=27.2ms, total=126.64s, count=4649, min=16.9ms, max=91.9ms
+  save_batch_prep: mean=4.03s, total=56.37s, count=14, min=3405.6ms, max=4530.5ms
+  task_sampling: mean=704.7ms, total=12.68s, count=18, min=368.1ms, max=3604.1ms
+  task_specific_sample: mean=533.5ms, total=9.60s, count=18, min=363.8ms, max=791.1ms
+  scene_load: mean=3.00s, total=3.00s, count=1, min=2998.9ms, max=2998.9ms
+  scene_env_create: mean=1.86s, total=1.86s, count=1, min=1861.7ms, max=1861.7ms
+  scene_compile: mean=951.5ms, total=951.5ms, count=1, min=951.5ms, max=951.5ms
+  compile_mujoco: mean=682.1ms, total=682.1ms, count=1, min=682.1ms, max=682.1ms
+  compile_xml_load: mean=186.7ms, total=186.7ms, count=1, min=186.7ms, max=186.7ms
+  scene_init: mean=122.9ms, total=122.9ms, count=1, min=122.9ms, max=122.9ms
+  scene_asset_install: mean=62.1ms, total=62.1ms, count=1, min=62.1ms, max=62.1ms
+  compile_aux_objects: mean=54.3ms, total=54.3ms, count=1, min=54.3ms, max=54.3ms
+  compile_aux_policy_objects: mean=54.3ms, total=54.3ms, count=1, min=54.3ms, max=54.3ms
+  scene_randomize: mean=2.8ms, total=49.8ms, count=18, min=1.4ms, max=4.0ms
+  asset_install_grasps: mean=48.2ms, total=48.2ms, count=1, min=48.2ms, max=48.2ms
+  compile_robot_add: mean=17.6ms, total=17.6ms, count=1, min=17.6ms, max=17.6ms
+  asset_install_objects: mean=10.6ms, total=10.6ms, count=1, min=10.6ms, max=10.6ms
+  mj_forward_sync: mean=510.9us, total=9.2ms, count=18, min=0.4ms, max=0.8ms
+  asset_install_scene: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms
+  policy_setup: mean=23.6us, 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]
+05/12 03:20:00 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/12 03:20:00 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 14 episodes, total_time=5493.90s
+  Worker averages:
+  episode_total: mean=167.15s, total=3008.71s, count=18, min=4612.5ms, max=224903.4ms
+  sensor_polling: mean=455.3ms, total=2116.78s, count=4649, min=389.1ms, max=965.3ms
+  save_trajectories: mean=11.14s, total=155.99s, count=14, min=10111.9ms, max=12484.6ms
+  physics_step: mean=27.2ms, total=126.64s, count=4649, min=16.9ms, max=91.9ms
+  save_batch_prep: mean=4.03s, total=56.37s, count=14, min=3405.6ms, max=4530.5ms
+  task_sampling: mean=704.7ms, total=12.68s, count=18, min=368.1ms, max=3604.1ms
+  task_specific_sample: mean=533.5ms, total=9.60s, count=18, min=363.8ms, max=791.1ms
+  scene_load: mean=3.00s, total=3.00s, count=1, min=2998.9ms, max=2998.9ms
+  scene_env_create: mean=1.86s, total=1.86s, count=1, min=1861.7ms, max=1861.7ms
+  scene_compile: mean=951.5ms, total=951.5ms, count=1, min=951.5ms, max=951.5ms
+  compile_mujoco: mean=682.1ms, total=682.1ms, count=1, min=682.1ms, max=682.1ms
+  compile_xml_load: mean=186.7ms, total=186.7ms, count=1, min=186.7ms, max=186.7ms
+  scene_init: mean=122.9ms, total=122.9ms, count=1, min=122.9ms, max=122.9ms
+  scene_asset_install: mean=62.1ms, total=62.1ms, count=1, min=62.1ms, max=62.1ms
+  compile_aux_objects: mean=54.3ms, total=54.3ms, count=1, min=54.3ms, max=54.3ms
+  compile_aux_policy_objects: mean=54.3ms, total=54.3ms, count=1, min=54.3ms, max=54.3ms
+  scene_randomize: mean=2.8ms, total=49.8ms, count=18, min=1.4ms, max=4.0ms
+  asset_install_grasps: mean=48.2ms, total=48.2ms, count=1, min=48.2ms, max=48.2ms
+  compile_robot_add: mean=17.6ms, total=17.6ms, count=1, min=17.6ms, max=17.6ms
+  asset_install_objects: mean=10.6ms, total=10.6ms, count=1, min=10.6ms, max=10.6ms
+  mj_forward_sync: mean=510.9us, total=9.2ms, count=18, min=0.4ms, max=0.8ms
+  asset_install_scene: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms
+  policy_setup: mean=23.6us, 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]
+05/12 03:20:03 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/12 03:20:03 INFO: Success count: 14, Total count: 14	[pipeline.py: 1491]
+05/12 03:20:03 INFO: Success rate: 100.00%	[pipeline.py: 1492]
diff --git a/fridge_m_0.7_pd/chunk_003/trajectories_batch_1_of_4_cam_rand.h5 b/fridge_m_0.7_pd/chunk_003/trajectories_batch_1_of_4_cam_rand.h5
index 91c8ea03f108921c14759d5d71bce15a9b7aabdf..311f096f611aaa709c33ebfd266f43ae0067b728 100644
--- a/fridge_m_0.7_pd/chunk_003/trajectories_batch_1_of_4_cam_rand.h5
+++ b/fridge_m_0.7_pd/chunk_003/trajectories_batch_1_of_4_cam_rand.h5
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:e84102266c64bd0640f7eaf5b27f4fc3dbbb698da2fcfa5c8af2014b1fcfae7c
-size 243006077
+oid sha256:6d72ff91cb0ff967385fbfba82b900431d64d72e1e3907d4eea9ec68eca0c34d
+size 957785828
diff --git a/fridge_m_0.7_pd/chunk_003/trajectories_batch_2_of_4_cam_rand.h5 b/fridge_m_0.7_pd/chunk_003/trajectories_batch_2_of_4_cam_rand.h5
index d6d854210f408c5df9eaa6c20bb02da47c1d422b..7d5736da55cc6773a2966afa3075f0eaac6ddb06 100644
--- a/fridge_m_0.7_pd/chunk_003/trajectories_batch_2_of_4_cam_rand.h5
+++ b/fridge_m_0.7_pd/chunk_003/trajectories_batch_2_of_4_cam_rand.h5
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:518d518d5b0d337e5c96c7d8b5d76512a4b1b97203d883065e9e455407d27f30
-size 224840697
+oid sha256:c9146ae5048b83c64fa6018f7f74d531ea171bb99ffbe8e9d694ccaac1fc7593
+size 1100815076
diff --git a/fridge_m_0.7_pd/chunk_003/trajectories_batch_3_of_4_cam_rand.h5 b/fridge_m_0.7_pd/chunk_003/trajectories_batch_3_of_4_cam_rand.h5
index 724c3e81da42b89405648c35ffba50f8f8d1e752..c53669f3b267a603605769f638594389a158fa26 100644
--- a/fridge_m_0.7_pd/chunk_003/trajectories_batch_3_of_4_cam_rand.h5
+++ b/fridge_m_0.7_pd/chunk_003/trajectories_batch_3_of_4_cam_rand.h5
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:762b0752a687fc2a771e2b0b67661def9d4dd427edaa6cc69d6a438a4882d639
-size 323243389
+oid sha256:214349e34f0ecfb1d194e7d14ae75c16b51355f6d0794b4eac6977ef6c6603b4
+size 887780928
diff --git a/fridge_m_0.7_pd/chunk_003/trajectories_batch_4_of_4_cam_rand.h5 b/fridge_m_0.7_pd/chunk_003/trajectories_batch_4_of_4_cam_rand.h5
index 09c2a718ff7dc59745e06df000aa315384ca6607..657421553f3914ad6352889c8ca3c8ae20125d33 100644
--- a/fridge_m_0.7_pd/chunk_003/trajectories_batch_4_of_4_cam_rand.h5
+++ b/fridge_m_0.7_pd/chunk_003/trajectories_batch_4_of_4_cam_rand.h5
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:26b918e42c151be20520906ad112bfac092f1a262a13cee86e9ef0352b1dba08
-size 319629186
+oid sha256:536b6b4dc2f212efdd38ab427bc9b39e3a38fde77602a43938dabd6854d70b7e
+size 860869033
diff --git a/fridge_m_0.7_pd/chunk_004/episode_00000000_exo_camera_1_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_004/episode_00000000_exo_camera_1_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..df023c66501c33f789cebf7eb3f35bcdbfd14447
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_004/episode_00000000_exo_camera_1_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6eca44bd87ea5e311b3a395a76ae4851b3b2fa00f4e272113b3b9c6b398ec746
+size 661427
diff --git a/fridge_m_0.7_pd/chunk_004/episode_00000000_exo_camera_1_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_004/episode_00000000_exo_camera_1_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..82062a923cfc5b1a3bb5df3b4ac18981cb23db7d
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_004/episode_00000000_exo_camera_1_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:95d8110df66189fc2205f4f59761aeeb797d9a3aaf4e158183f71406989c6e8d
+size 828935
diff --git a/fridge_m_0.7_pd/chunk_004/episode_00000000_exo_camera_1_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_004/episode_00000000_exo_camera_1_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a439cefaf98d193fed57278c53b7585363806b23
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_004/episode_00000000_exo_camera_1_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:22cbededbc27e9eb92910b25940e27e0fe967a571744fd08735d945f538cf1f8
+size 684070
diff --git a/fridge_m_0.7_pd/chunk_004/episode_00000000_exo_camera_1_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_004/episode_00000000_exo_camera_1_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d976779c9248855bd40de5e8abc1df8e8264ba4c
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_004/episode_00000000_exo_camera_1_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:933d0ae6c5fa62d365f0e87df4eafc1c588c8a2c8f40aba1b1eb5f21bcd7de2c
+size 766522
diff --git a/fridge_m_0.7_pd/chunk_004/episode_00000000_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_004/episode_00000000_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f93ba38f9eb5527d0268a82661981af73ef74f66
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_004/episode_00000000_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b33c1351ccda48c8707b536b710dfbbc1528b80b2d7a84a4355ea2b1bdbaa17
+size 526649
diff --git a/fridge_m_0.7_pd/chunk_004/episode_00000000_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_004/episode_00000000_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..436317269a6150a36812fe6143dfa95c3b581a77
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_004/episode_00000000_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:568b0da63219fd610c3c30439c67410e3cb302436c9fd1077072c8b214e05c4b
+size 682862
diff --git a/fridge_m_0.7_pd/chunk_004/episode_00000000_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_004/episode_00000000_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4728c9a3408d71ddef5fb67d645704a0bee70c4f
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_004/episode_00000000_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae2cd65cb9a393d308dbcbe4ea2f76b56c1fdb4633a8833aa08a930db9664250
+size 564132
diff --git a/fridge_m_0.7_pd/chunk_004/episode_00000000_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_004/episode_00000000_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..79cbeff7b7f3d6c15a6547f5c738b4962018029d
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_004/episode_00000000_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9deeb69f3260fa75d1552a3d21247b63fd485ecb04b356283b85019ab7637a02
+size 647613
diff --git a/fridge_m_0.7_pd/chunk_004/episode_00000000_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_004/episode_00000000_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7df0cb9ef6a2ff90bb8a4276ba2bc0cbd325daf7
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_004/episode_00000000_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d622175d15c404933f4927b114a26246b22f03d94376c1267ce35e84131cc4d
+size 638636
diff --git a/fridge_m_0.7_pd/chunk_004/episode_00000000_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_004/episode_00000000_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1211157d82ce4fd857681ba2cae3e2902286c80d
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_004/episode_00000000_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:79b42d91a53d4c4c59e785505443202a6819d7bb7467be7c03133ec595d64168
+size 581475
diff --git a/fridge_m_0.7_pd/chunk_004/episode_00000000_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_004/episode_00000000_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fccb16190c639622fe2c569f79de2a7519eac39f
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_004/episode_00000000_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fc88e5937c10d3ce477bcefd0ec8cd21d39016febe40dcd7015925f319798d6f
+size 715891
diff --git a/fridge_m_0.7_pd/chunk_004/episode_00000000_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_004/episode_00000000_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1adb7fe5ee95b344c281549e4c0940afd061492a
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_004/episode_00000000_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a04aa1b9d84aa9b878e6d0ea3e68a25b4db7b995f249191283be9fa8cf4ae128
+size 755317
diff --git a/fridge_m_0.7_pd/chunk_004/episode_00000000_wrist_camera_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_004/episode_00000000_wrist_camera_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..372aca9973d2f4fa3d3dfcfed442fcd8fca18cb2
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_004/episode_00000000_wrist_camera_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:03960a1ef0270de4a2f2d6305e73ece36b8f6d8968db1f7fd5ac900763330326
+size 656164
diff --git a/fridge_m_0.7_pd/chunk_004/episode_00000000_wrist_camera_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_004/episode_00000000_wrist_camera_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..dfdf5279d8e9d122f1ee2d34a25209cadbff0bd5
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_004/episode_00000000_wrist_camera_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ee3d0fc1527ea05ed3e981e726cd196eb1f8ee7ef02a0dcf6fa554d5951d213
+size 699594
diff --git a/fridge_m_0.7_pd/chunk_004/episode_00000000_wrist_camera_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_004/episode_00000000_wrist_camera_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..230a0cc5edc35fa16ad3f19d584879d8e8c424e3
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_004/episode_00000000_wrist_camera_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:21cf5a32e7bdef25b61966a586a02ddb73336a58555a567b490050c579c84a34
+size 763992
diff --git a/fridge_m_0.7_pd/chunk_004/episode_00000000_wrist_camera_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_004/episode_00000000_wrist_camera_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c903430bc6a7b3c64a1ceb15522e24ffdff41988
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_004/episode_00000000_wrist_camera_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6bf32804ef73586c9dbf3171e50023e52c98ec10822e56228623cf5c4b2e094d
+size 728916
diff --git a/fridge_m_0.7_pd/chunk_004/episode_00000000_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_004/episode_00000000_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c81bc16c9e8136ff3ad3ac381ccc8708195da2e9
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_004/episode_00000000_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:82b147aa8dcd340a65881094729f7d226be4bbbc953076cdbd2d56675ad52af1
+size 138699
diff --git a/fridge_m_0.7_pd/chunk_004/episode_00000000_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_004/episode_00000000_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5e74bb616fb8fee6749961091e4a8eeeb0f19264
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_004/episode_00000000_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4f98929d24a2a016ce60823707f2bd0ca99347a15ad2cb40af49c2108b9ad6d1
+size 137325
diff --git a/fridge_m_0.7_pd/chunk_004/episode_00000000_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_004/episode_00000000_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3a69054d47077f1658a43afb1f17a87e86c47246
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_004/episode_00000000_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b172903c4f8e9d3ceed64d3438bc147ee292f50fce421a9bdfa4634e49d2faa
+size 167837
diff --git a/fridge_m_0.7_pd/chunk_004/episode_00000000_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_004/episode_00000000_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f785c237fd4bfcb76a6542b030627a1c5e601bca
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_004/episode_00000000_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6fdf714dde96a4e9bc0cecfb93f50b500166d2b1dbe567e8e9468b3e448e4dda
+size 135867
diff --git a/fridge_m_0.7_pd/chunk_004/episode_00000000_wrist_camera_seg_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_004/episode_00000000_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..28001198e294207c893874efa5af30fc806f1f87
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_004/episode_00000000_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:34150c2642855f33451e930412fbab4b06dfe18707b15b28576ceac4bb22a7ef
+size 425768
diff --git a/fridge_m_0.7_pd/chunk_004/episode_00000000_wrist_camera_seg_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_004/episode_00000000_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..de8c25f61eabbde592d6715842d1cfa886ceab4c
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_004/episode_00000000_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d2c0e2db1b063fd586ef9fef90b89ac80cbebe09548a085c09f908f2354b440
+size 409051
diff --git a/fridge_m_0.7_pd/chunk_004/episode_00000000_wrist_camera_seg_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_004/episode_00000000_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..150b09a0a6cb9868b2faa39f0c2cc6013c56feeb
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_004/episode_00000000_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ea6f5d7c9911ee227a6110abea023fc2f509d7b8d7701ddf6df6eb60eb28ef4
+size 387528
diff --git a/fridge_m_0.7_pd/chunk_004/episode_00000000_wrist_camera_seg_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_004/episode_00000000_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b35d442b25d9d13d39c5004fde8e53e18a1e714e
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_004/episode_00000000_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c97afd46e9ec112d57779295fc46578bf4a76ad7d9e862c5899b8533f646a06f
+size 399175
diff --git a/fridge_m_0.7_pd/chunk_004/episode_00000001_exo_camera_1_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_004/episode_00000001_exo_camera_1_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..59629a0c1efcc917751eb340bbcfeb543905e093
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_004/episode_00000001_exo_camera_1_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:87e531a86d0c57446f67346d0e6beed5408d3b40d83ecdb39a1d46cd1ce5b9db
+size 1015693
diff --git a/fridge_m_0.7_pd/chunk_004/episode_00000001_exo_camera_1_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_004/episode_00000001_exo_camera_1_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1a9705929b5d54a3f2ab2f47c12831b9d209c139
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_004/episode_00000001_exo_camera_1_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b68dea36ed1d8fe67eaad29fbae73e3b270eb34629e956f6e49e617a82f395ae
+size 845103
diff --git a/fridge_m_0.7_pd/chunk_004/episode_00000001_exo_camera_1_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_004/episode_00000001_exo_camera_1_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2819cde0e844e2f4ff0df00f728fa17765f49775
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_004/episode_00000001_exo_camera_1_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:206610f90ef23e59da596e3cb715676fd643b2ce7365aac69aafadefa5e0d789
+size 887717
diff --git a/fridge_m_0.7_pd/chunk_004/episode_00000001_exo_camera_1_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_004/episode_00000001_exo_camera_1_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c856fbe655edc99e8eb1629be87ea81b0009b5f5
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_004/episode_00000001_exo_camera_1_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:145586b5f134b252b88c8d15a9315ba3e7009eb3032960d8ab7b0f613012e21a
+size 856741
diff --git a/fridge_m_0.7_pd/chunk_004/episode_00000001_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_004/episode_00000001_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f134edf19a074470c936c73d970db513ede51c01
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_004/episode_00000001_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:022f500ba2ccb91bcdeb124768e6cdee366aa3c2e2e94d893057db58b51c4e0c
+size 903532
diff --git a/fridge_m_0.7_pd/chunk_004/episode_00000001_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_004/episode_00000001_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a29bff5656ef310c9f2ce307eed57a339e92258f
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_004/episode_00000001_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b29b7e9f097ca3b584e749f790d192205c860aef0981d7f87b36bb81ca28765c
+size 696574
diff --git a/fridge_m_0.7_pd/chunk_004/episode_00000001_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_004/episode_00000001_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6fb25cd95cdfccaf034a7d20cd28a883ee5d3123
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_004/episode_00000001_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:02be98885691e9aa36b42de7bdff506516f7e809b0d6ed837df8508cccafacbf
+size 741093
diff --git a/fridge_m_0.7_pd/chunk_004/episode_00000001_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_004/episode_00000001_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ebe723e4976acad0cff99c1e3bffa66f5463ab73
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_004/episode_00000001_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:30a269691cbde364029aaf280987641e1c4b68cc9d2e229c9dac66c39605eb50
+size 737209
diff --git a/fridge_m_0.7_pd/chunk_004/episode_00000001_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_004/episode_00000001_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0c047298c2591230bcf2d5134c474cfd40d99d50
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_004/episode_00000001_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0d91d9c1ea4108a61d6595352eb95f3fa64771a8a80df264d40ae13766d9ec53
+size 1082820
diff --git a/fridge_m_0.7_pd/chunk_004/episode_00000001_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_004/episode_00000001_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..37f080dc7a73db464bde07a9e80174497490f2bb
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_004/episode_00000001_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d0ed0d824754076d9a23b03034490ec5799396261782ccea013d1beca7856811
+size 803715
diff --git a/fridge_m_0.7_pd/chunk_004/episode_00000001_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_004/episode_00000001_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..093dafb09688e323653a18c250b5b6b64ecc547f
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_004/episode_00000001_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2452e406dd76bd1a4fb1221a2eb58a3a900bc82c2c3d4bfef4873b2d4462dd7e
+size 595951
diff --git a/fridge_m_0.7_pd/chunk_004/episode_00000001_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_004/episode_00000001_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..22856b71c0ffa2305996974a974b4bd32cd91bf4
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_004/episode_00000001_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b891035ae2667f2d3150daf9a7944738633df50ec707b8a37ece2987d099b4a7
+size 677195
diff --git a/fridge_m_0.7_pd/chunk_004/episode_00000001_wrist_camera_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_004/episode_00000001_wrist_camera_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2b7f643d9416c19c3a083e88e8e97f562d808815
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_004/episode_00000001_wrist_camera_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5831747aa97fa99a06b75c7befda6a44f7548267a9e47a3bf84c73304f2223b1
+size 706512
diff --git a/fridge_m_0.7_pd/chunk_004/episode_00000001_wrist_camera_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_004/episode_00000001_wrist_camera_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4269f381ea83f6b044705cd74dfd551efde16a79
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_004/episode_00000001_wrist_camera_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:339f9d27d1c434029a24a4e3e7547fc678e03aa1232a892a4277689f6ff8cb6e
+size 617958
diff --git a/fridge_m_0.7_pd/chunk_004/episode_00000001_wrist_camera_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_004/episode_00000001_wrist_camera_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..72204e997c138cd5c1ad6200f1ff7d1f069015f8
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_004/episode_00000001_wrist_camera_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1bbfb10725f1fbf30c9aa24e475a5eb57519a8087c46bb8b345256a3dfd69cb5
+size 650246
diff --git a/fridge_m_0.7_pd/chunk_004/episode_00000001_wrist_camera_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_004/episode_00000001_wrist_camera_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..af34dc0e115c74fd68dc0bcac3cc7cccfacebc9d
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_004/episode_00000001_wrist_camera_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e87b87572e4b4426fd415ae1fc3cecc512ddaffb561176c0d87df77aaea6619
+size 782825
diff --git a/fridge_m_0.7_pd/chunk_004/episode_00000001_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_004/episode_00000001_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7aa77865e118fc0da1ee9e762727279dd6d9d3ed
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_004/episode_00000001_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4727599e64edb9983be1686579f6aaae07a8a0d2e8ebb6eb29c0d8125da06f3e
+size 123715
diff --git a/fridge_m_0.7_pd/chunk_004/episode_00000001_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_004/episode_00000001_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..78661e5a729f2e2d4f0b764544b703c2a7c93311
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_004/episode_00000001_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:61fc0256f979abdc43aaf6ded9500db2c9dbb0bc5ffd94a43f9ba34b7fc258c9
+size 117398
diff --git a/fridge_m_0.7_pd/chunk_004/episode_00000001_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_004/episode_00000001_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2bf2c434d8e34d0f447be6cee6537219df6a5582
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_004/episode_00000001_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f2a69cd28998f404611e3b601084dc49425c0b796cf2e16dd8cc036e673f5c2
+size 128944
diff --git a/fridge_m_0.7_pd/chunk_004/episode_00000001_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_004/episode_00000001_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3b00262fbdb875763af8ab09d75157aca1eb3312
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_004/episode_00000001_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc871278e90a4a6c5f673f27ee02ec6307a63c16e9c699662ff96a4d2327405c
+size 170135
diff --git a/fridge_m_0.7_pd/chunk_004/episode_00000001_wrist_camera_seg_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_004/episode_00000001_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a73ead55c03648c377b067b6cee344b0f11b48ba
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_004/episode_00000001_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe9132e272424e2f878e6238727add553b2469470f940974fbd8e31b5a43eb69
+size 415958
diff --git a/fridge_m_0.7_pd/chunk_004/episode_00000001_wrist_camera_seg_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_004/episode_00000001_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..84b3c350c9abfee201b5dcab1394fe0803d4175e
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_004/episode_00000001_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d6e56bec70f16b1b8b65a87a4be472e4a7a4fa49178d00ff7606aef11cd4ac4
+size 298878
diff --git a/fridge_m_0.7_pd/chunk_004/episode_00000001_wrist_camera_seg_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_004/episode_00000001_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..879d8b22714869ea3905078cad1e632750d33700
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_004/episode_00000001_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:18f38b4ef9bfef5fd20d01971dcd84ae08554345fd0baa8ac4d4abe13de1ef86
+size 402698
diff --git a/fridge_m_0.7_pd/chunk_004/episode_00000001_wrist_camera_seg_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_004/episode_00000001_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bf7d4978b07ab24e4f8eca0c0cb92fbeb982757d
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_004/episode_00000001_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f72976bd8b5f9b2ab78a5b557e84b57617cc8d1af4475abf913477225e638ceb
+size 413971
diff --git a/fridge_m_0.7_pd/chunk_004/episode_00000002_exo_camera_1_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_004/episode_00000002_exo_camera_1_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0f7e3662197f70b40152bb8cb7777054b80744ed
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_004/episode_00000002_exo_camera_1_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb4b5a96ac01adb1cc6d5943d87ba7c82d12d7baf70c7ebbd01225317ca5b964
+size 638790
diff --git a/fridge_m_0.7_pd/chunk_004/episode_00000002_exo_camera_1_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_004/episode_00000002_exo_camera_1_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3f9ff99fc5ef54ae495b93f817ae7ead9504c07c
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_004/episode_00000002_exo_camera_1_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a77b979e5510643607a2aa0d0c5993d93cdf694c836e5c24e1763f8dfafdf8a4
+size 578995
diff --git a/fridge_m_0.7_pd/chunk_004/episode_00000002_exo_camera_1_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_004/episode_00000002_exo_camera_1_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..08c590dd2bb29b0812ee060d00a065af99738dd8
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_004/episode_00000002_exo_camera_1_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a222bf6fec0f55b019a9f69d20c4eefea585e309f39ce726f350b2e1ffb9c807
+size 725556
diff --git a/fridge_m_0.7_pd/chunk_004/episode_00000002_exo_camera_1_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_004/episode_00000002_exo_camera_1_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c2410be0643359d7bd0df8a2e501e9a2b99a35e6
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_004/episode_00000002_exo_camera_1_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e75dfc3ba79e6dae5cca4a61b1153a6a3fbe34c482efe9abb15ba9b33ade482e
+size 850582
diff --git a/fridge_m_0.7_pd/chunk_004/episode_00000002_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_004/episode_00000002_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0444eb8672294de0a442d4584c6342407f33c185
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_004/episode_00000002_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f0c13d156da8069911f37cd4f5e8bd4e84c6a3b7bd71aca2ddca0a0a3232037
+size 542406
diff --git a/fridge_m_0.7_pd/chunk_004/episode_00000002_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_004/episode_00000002_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..79895f89ed0b3e6b007ab0d60b5e9f643164892a
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_004/episode_00000002_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f8fa317a8c3fe5d7aed403257e00026118e1f2b946f5e782d2c4522998737212
+size 477057
diff --git a/fridge_m_0.7_pd/chunk_004/episode_00000002_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_004/episode_00000002_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ba4064791fbcdf6b1528d159c459fe5e389be422
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_004/episode_00000002_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee3bc278cd3ce261b986a1072c78c7863ff2d01e117be03723114aa0d371e32c
+size 620779
diff --git a/fridge_m_0.7_pd/chunk_004/episode_00000002_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_004/episode_00000002_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a15d45d3c1a2d5043153234e5084cc03ed9a455e
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_004/episode_00000002_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6948aa652137c87ed74d415bed640146a7bb8aaf97f512af4860ceb3e1830fa4
+size 748897
diff --git a/fridge_m_0.7_pd/chunk_004/episode_00000002_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_004/episode_00000002_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a2ff711f56136efac844e291f52d66e1694f7a04
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_004/episode_00000002_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e6f72ed00c7933e48feff34c12b9e9741d91c587bdaffdb02a18750d5b0d175
+size 704705
diff --git a/fridge_m_0.7_pd/chunk_004/episode_00000002_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_004/episode_00000002_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fb038af7e5a587eb38655f8ff04d5587bce882e3
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_004/episode_00000002_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b903e74acedb4d727a7af442c0061e3cbb92992a9f3ffa12317eb20eeb845c6
+size 590400
diff --git a/fridge_m_0.7_pd/chunk_004/episode_00000002_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_004/episode_00000002_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..edb61d353bf06a73cf21f19487eba89589fb7cd4
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_004/episode_00000002_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:358d032302441d50646ad23f7e35f2d510e4f0a8ef9493b2437e7e76b3001e38
+size 1006151
diff --git a/fridge_m_0.7_pd/chunk_004/episode_00000002_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_004/episode_00000002_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2f7e4e7fb77500352a7d85739b9e14a4fbde9260
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_004/episode_00000002_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:58536ae28bd045e286739df010728f3308934f50e46988d6d9536ba52455c450
+size 732924
diff --git a/fridge_m_0.7_pd/chunk_004/episode_00000002_wrist_camera_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_004/episode_00000002_wrist_camera_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4fd00e1579b56213a16498661998d3d940264fae
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_004/episode_00000002_wrist_camera_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0159aeade73304f71cec062c49b643fb33601c8a980d5c4e5d24fe8515b32391
+size 603105
diff --git a/fridge_m_0.7_pd/chunk_004/episode_00000002_wrist_camera_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_004/episode_00000002_wrist_camera_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9d8014ac79ab8cbe3164b24d229a926bd49e6a75
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_004/episode_00000002_wrist_camera_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cbc580bfd38bfd1e5220cf2db9342b9b8cc99e028271bf309fef751e5223a432
+size 582167
diff --git a/fridge_m_0.7_pd/chunk_004/episode_00000002_wrist_camera_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_004/episode_00000002_wrist_camera_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9d625bc57752874176875f7e565ec845ea40c278
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_004/episode_00000002_wrist_camera_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c19b62d8aa897b603e92c9434da774a36da4c845b78830158d2dc9c6092d7af
+size 714906
diff --git a/fridge_m_0.7_pd/chunk_004/episode_00000002_wrist_camera_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_004/episode_00000002_wrist_camera_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bd24d8435a485aec9e3bfb512a0a40209f8fdadf
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_004/episode_00000002_wrist_camera_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f55562bb30e7b75b64c9d01cdf506a057a2e4e91591273725177772b128a7e6d
+size 646435
diff --git a/fridge_m_0.7_pd/chunk_004/episode_00000002_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_004/episode_00000002_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ac3d3cf5e2baef01ba4c8ae5d1d88615e4d890d7
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_004/episode_00000002_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca423cdcc7f60a700d360119a8c953ca5f5253d63ff2f05a7aa7742247064b8d
+size 113662
diff --git a/fridge_m_0.7_pd/chunk_004/episode_00000002_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_004/episode_00000002_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f133e85cf31e27e6a031d00b2a25f87f26f06f39
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_004/episode_00000002_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9fdd65ac1b1d48b5e791abb417b1cea900ad72d8a56edaa7eb84c2f782c745b7
+size 116832
diff --git a/fridge_m_0.7_pd/chunk_004/episode_00000002_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_004/episode_00000002_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..990f329b26f22d79be92011194dbe5bf09e4d72a
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_004/episode_00000002_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:78b62f8e66f08a4a61a202c1afb425ffdcf7c56530bcfb86050a6a32df2eac1e
+size 109738
diff --git a/fridge_m_0.7_pd/chunk_004/episode_00000002_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_004/episode_00000002_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7cc08b0dc093e95ba65abe1ec909fbbb9b492047
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_004/episode_00000002_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6585add19ae4af566c0c74a13d470d34a3eacdee63b7dd744e35b829e3ef0e1a
+size 98962
diff --git a/fridge_m_0.7_pd/chunk_004/episode_00000002_wrist_camera_seg_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_004/episode_00000002_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..62b3d8ec9098fc0e54425681bfd6a1e59da1ece0
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_004/episode_00000002_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:83d5f3817897ce52a9cd8c25fd43760fc5a3e59efe74e59771b5dd1d7ae47387
+size 377105
diff --git a/fridge_m_0.7_pd/chunk_004/episode_00000002_wrist_camera_seg_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_004/episode_00000002_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0aa1ac46b2a8e27bde8c66fe07b600b2c786548c
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_004/episode_00000002_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:146928aa15831153571f6ee879d38193fd79075e79a1e4397ad7db81bf96c567
+size 296571
diff --git a/fridge_m_0.7_pd/chunk_004/episode_00000002_wrist_camera_seg_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_004/episode_00000002_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0c2b86df7a32a73691536dbf2d3f6da0a44dad07
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_004/episode_00000002_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:61638665d73a23cb81f0cf4f453d2c82159e12b5eabb2ee0c8701bb004d1e38a
+size 669207
diff --git a/fridge_m_0.7_pd/chunk_004/episode_00000002_wrist_camera_seg_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_004/episode_00000002_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bd08345cc6518a198bb04936d18face516db6411
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_004/episode_00000002_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aca58eeb9f50781e79b2d4b45bd9db47145736be054c78fc9980414736b7580f
+size 402701
diff --git a/fridge_m_0.7_pd/chunk_004/episode_00000003_exo_camera_1_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_004/episode_00000003_exo_camera_1_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bdc49782a614ddf4059e779ab5febd191ae94fbb
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_004/episode_00000003_exo_camera_1_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae912b6ca039223b31f67e0cefb5eea251081a9e2ba1019471db33d7156af092
+size 779954
diff --git a/fridge_m_0.7_pd/chunk_004/episode_00000003_exo_camera_1_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_004/episode_00000003_exo_camera_1_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2772f381e661bb0808973e246a2b05483e8b01a9
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_004/episode_00000003_exo_camera_1_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e5faeee7b2a288e1d06548a7c3892a871995620e80c9cc51ec925bff550e2b5
+size 874640
diff --git a/fridge_m_0.7_pd/chunk_004/episode_00000003_exo_camera_1_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_004/episode_00000003_exo_camera_1_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..89300bf7bc2c215898ff921dd020cfe08bd249dc
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_004/episode_00000003_exo_camera_1_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3985c80c55d9fc1e3792b3909d11df56e86966a9f6a4790c45687267f2ff3051
+size 757567
diff --git a/fridge_m_0.7_pd/chunk_004/episode_00000003_exo_camera_1_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_004/episode_00000003_exo_camera_1_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e69418c9d86c8b6e9a902e1959b906f53e07c803
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_004/episode_00000003_exo_camera_1_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c719887b109439d34ab2382ed155fc4b7c238cc2b2423a122e7de2b2ac11207
+size 713693
diff --git a/fridge_m_0.7_pd/chunk_004/episode_00000003_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_004/episode_00000003_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d58aefd06567bd9e9a21e506b80bfdaa405e9255
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_004/episode_00000003_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e68305d10ce531222fb9291e6a7b8a514f17406fa819b0125d7e34c43ee8384
+size 607775
diff --git a/fridge_m_0.7_pd/chunk_004/episode_00000003_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_004/episode_00000003_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..778f18a3f77077e63af1c05c5c45dda627e84df3
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_004/episode_00000003_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3aef6e743d3a872051eedd54bafd0c73419d0297d09bf054bb93acdb186c6b9a
+size 701453
diff --git a/fridge_m_0.7_pd/chunk_004/episode_00000003_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_004/episode_00000003_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..af40687d17a9eafe5bd4d0234443e9252212ee55
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_004/episode_00000003_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1f3fb88b044675ed4985b5fe844eb487471c32702a65e623a8c8f479c1c43f30
+size 589513
diff --git a/fridge_m_0.7_pd/chunk_004/episode_00000003_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_004/episode_00000003_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d8855c628cd750bf1da0929a6cb5f8fd13c5d097
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_004/episode_00000003_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ba8f5f1759a93e824d804a192f4a9df846300ee43a0dfc5925767823eb15959
+size 625901
diff --git a/fridge_m_0.7_pd/chunk_004/episode_00000003_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_004/episode_00000003_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9370d973b5004c93fdc128e459b6a8e3304e8a88
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_004/episode_00000003_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:210be064ba9c5b84280168f65994507e64c14393670ea8e1351168e18768fc09
+size 630641
diff --git a/fridge_m_0.7_pd/chunk_004/episode_00000003_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_004/episode_00000003_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5c4ab134401e7bd8f69fba9503886bd02d6a0ea1
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_004/episode_00000003_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b2c5dc55456f4d7ba3ceaed8a384a1ea854e364af1875a123db51d49887d928
+size 584358
diff --git a/fridge_m_0.7_pd/chunk_004/episode_00000003_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_004/episode_00000003_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9964ca527572f05c62fcb996f3d6e9b0f317011a
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_004/episode_00000003_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c2cd3575817874948168d959fcc6f34b40e47e5c08921e0031e4de977d40fad6
+size 712992
diff --git a/fridge_m_0.7_pd/chunk_004/episode_00000003_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_004/episode_00000003_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2fd799069685012b248b676a7967f30be5e760bb
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_004/episode_00000003_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ffb32ecc7b420a691120da17aa94f95093cfae7cdb707ade9682e329fe5a1b0a
+size 705002
diff --git a/fridge_m_0.7_pd/chunk_004/episode_00000003_wrist_camera_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_004/episode_00000003_wrist_camera_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fce87cc9d49a190dacd02ea774177bdee6248e20
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_004/episode_00000003_wrist_camera_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ccbf722f92c315be15b4a16a8cdfc8d401ff6cedd5332a4164d2aac24471ca40
+size 637559
diff --git a/fridge_m_0.7_pd/chunk_004/episode_00000003_wrist_camera_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_004/episode_00000003_wrist_camera_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..13a85dd457cdb0d0bc7c2048e4b7a17435e81b83
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_004/episode_00000003_wrist_camera_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:23527c5311f7239e6e2cb3127252184fa724ee00a3cb33e3086d2b4eb23b972c
+size 635675
diff --git a/fridge_m_0.7_pd/chunk_004/episode_00000003_wrist_camera_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_004/episode_00000003_wrist_camera_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a100b9eb7a936c3528eb19444e6587052c5668fa
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_004/episode_00000003_wrist_camera_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:703acccc42e7a3c0446467ad5fd196b495f5f9337e3a47641bc2a87ef34cbf16
+size 620366
diff --git a/fridge_m_0.7_pd/chunk_004/episode_00000003_wrist_camera_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_004/episode_00000003_wrist_camera_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..04077ab0ac9c9159ea176837983097008587816f
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_004/episode_00000003_wrist_camera_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a240f28d6818f0ffe169cef822047738387adc57eaf8c4e65f887905fcee525
+size 712335
diff --git a/fridge_m_0.7_pd/chunk_004/episode_00000003_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_004/episode_00000003_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..48495e82b115aa414bb41cd182f726a984e91d6e
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_004/episode_00000003_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:77c3c26772eea74e91dd2bdbad10be32306a06ef317ef37182de4dc85d103a43
+size 108785
diff --git a/fridge_m_0.7_pd/chunk_004/episode_00000003_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_004/episode_00000003_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..453d071393c79685126b65c5271f088f42f4dc9b
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_004/episode_00000003_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d789c66049dd3e86361be02d5f8d7a4baddafe74c0b693c9f49e308f046bb8c1
+size 126662
diff --git a/fridge_m_0.7_pd/chunk_004/episode_00000003_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_004/episode_00000003_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..91225f484fbcf99acdf8a610f25b50e721fce3fc
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_004/episode_00000003_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2969996f063b28eae6cdd648002466d46dadcbea9e363f9e03b49108ba8eddcb
+size 125309
diff --git a/fridge_m_0.7_pd/chunk_004/episode_00000003_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_004/episode_00000003_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c9c47d682c961dbc5f7dac9f7ca2760d2ed13ba8
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_004/episode_00000003_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b90edbb5b85697734684125ffb60f89f2d81d73f2e592749678a65f357c6f3f8
+size 121951
diff --git a/fridge_m_0.7_pd/chunk_004/episode_00000003_wrist_camera_seg_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_004/episode_00000003_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..56928cca07abaf413360d2b2fb141d4e01f6a779
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_004/episode_00000003_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:be172e321caa531360b4b7c0e5d43a6c8379b9831a58fed1f037fc5e6db0aa91
+size 536351
diff --git a/fridge_m_0.7_pd/chunk_004/episode_00000003_wrist_camera_seg_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_004/episode_00000003_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e64b3e1c4059905c4beee9da6d057d992e255b69
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_004/episode_00000003_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0930007b4488f2c4271006c1087e194c892fe81d8fe02082bd038c5581d7ab81
+size 322298
diff --git a/fridge_m_0.7_pd/chunk_004/episode_00000003_wrist_camera_seg_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_004/episode_00000003_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..95c280950bae35928dc82f4be8d3c3ad58d04174
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_004/episode_00000003_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c89ddc298c1a14314ae4f972dd821ec4d6677dbfbe0cb10066653ef280507cfb
+size 422631
diff --git a/fridge_m_0.7_pd/chunk_004/episode_00000003_wrist_camera_seg_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_004/episode_00000003_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6418105a7f64f55bcf2d25e7a650c05b178d1f02
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_004/episode_00000003_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b46774ff5e1a0c54f96cfe71fbba26148e335dbf79fa88d6571c94b5f1e72c8f
+size 409238
diff --git a/fridge_m_0.7_pd/chunk_004/episode_00000004_exo_camera_1_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_004/episode_00000004_exo_camera_1_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1f9819ef755c07a84c18c762f0d0bee7ac7962c6
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_004/episode_00000004_exo_camera_1_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c9e3c18e89c801ecb70d167357b987f642196bf854d61715588c2fa7fd0a693e
+size 734163
diff --git a/fridge_m_0.7_pd/chunk_004/episode_00000004_exo_camera_1_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_004/episode_00000004_exo_camera_1_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9fa7b13a69cd1bfd35998d67ed5bb40ec91c3af1
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_004/episode_00000004_exo_camera_1_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b4f89920e31fc1be0b50d1285518fb89b5d9a6589916e948319ff1982905b711
+size 814723
diff --git a/fridge_m_0.7_pd/chunk_004/episode_00000004_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_004/episode_00000004_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..38eeba7cb095c8edfbfa84bc0fc10777d56d8594
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_004/episode_00000004_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:326683ec4d6b6386102ce5fde58ed2f41a404d4b2c4ce18106432a781b2fac0b
+size 591386
diff --git a/fridge_m_0.7_pd/chunk_004/episode_00000004_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_004/episode_00000004_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6d8cb019d986425b2dde6f386d5495b18c3d1ead
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_004/episode_00000004_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2aec755a780760e7c70d0cc1f9ddf1a1bb6fec0f04e54ad6ac953ebfb5809d58
+size 722496
diff --git a/fridge_m_0.7_pd/chunk_004/episode_00000004_wrist_camera_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_004/episode_00000004_wrist_camera_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..40a91aa4e2b326f355b37b9f64a65c5e4dd4776f
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_004/episode_00000004_wrist_camera_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e104000777d0d96d8a912337154f02c4156174db28efd939a84a51fbce46135f
+size 652131
diff --git a/fridge_m_0.7_pd/chunk_004/episode_00000004_wrist_camera_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_004/episode_00000004_wrist_camera_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4407f198b88e281b85dd567a12f8697b530020ef
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_004/episode_00000004_wrist_camera_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf07f0afe89efaf1f1297b5d06dbf8ac060c40e7672af63107807e419c1a3b6d
+size 630834
diff --git a/fridge_m_0.7_pd/chunk_004/episode_00000004_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_004/episode_00000004_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b36e98dd937fc7595aa3a27c25fdd199d83d5449
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_004/episode_00000004_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c0dddc35928e5ac2912276a83f4ec61a50ac71482a5cdfe5e33c6e667a54ddbd
+size 137345
diff --git a/fridge_m_0.7_pd/chunk_004/episode_00000004_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_004/episode_00000004_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..86d5931013eb57e5e7129fb2cb26eae9c0166324
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_004/episode_00000004_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:18d3095308344b51e7b2cf52f51072855e41b450f5e6a6fdbc34c85fe4d1c907
+size 120363
diff --git a/fridge_m_0.7_pd/chunk_004/episode_00000004_wrist_camera_seg_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_004/episode_00000004_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..41c218caf190bac21dd9249aff19dc8f0a329fe5
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_004/episode_00000004_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb82ab03515e4df94b8c39399fe0309ca8837cfe6796cd45f58131bec2405f47
+size 387057
diff --git a/fridge_m_0.7_pd/chunk_004/episode_00000004_wrist_camera_seg_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_004/episode_00000004_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4fd34b7ea9990ef8ee219c0115674e544617eaa0
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_004/episode_00000004_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:100553d373ce6738475bee7ec7c9259e7ba695d60611b14218839bdefbf3fb7a
+size 422353
diff --git a/fridge_m_0.7_pd/chunk_004/experiment_config_20260512_032119.pkl b/fridge_m_0.7_pd/chunk_004/experiment_config_20260512_032119.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..55664d894ae16898c0d5162dd5d8bfb9ed278e47
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_004/experiment_config_20260512_032119.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1e431608dc2d48217b0242181686d72f4fe898ad8c23cf226a8c71a045955dd0
+size 8153
diff --git a/fridge_m_0.7_pd/chunk_004/experiment_config_20260512_032125.pkl b/fridge_m_0.7_pd/chunk_004/experiment_config_20260512_032125.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..ee1d83c7b401e230651446fc006b70845ca6a4de
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_004/experiment_config_20260512_032125.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:82168f01b575bbf173e5af9df8a87c5e274ef4da96c493310e166c9e028e31ec
+size 8153
diff --git a/fridge_m_0.7_pd/chunk_004/running_log.log b/fridge_m_0.7_pd/chunk_004/running_log.log
new file mode 100644
index 0000000000000000000000000000000000000000..98b2125ca87e2a0bfa7e2a85b441164c9f857aa2
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_004/running_log.log
@@ -0,0 +1,2805 @@
+05/12 03:21:19 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/12 03:21:19 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/12 03:21:19 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/12 03:21:19 INFO: {'batch_num': 3,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_004'),
+ '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 0x757087abc710>,
+ 'robot_config': {'K_damping': [793.0831592413665,
+                                241.62769618042807,
+                                300.12442783719814,
+                                440.9812092338339,
+                                500.000000000004,
+                                311.89516163317654,
+                                500.000000000004],
+                  'K_stiffness': [5132.972657172051,
+                                  1060.4599870990814,
+                                  1814.2516466742627,
+                                  2282.7973699783515,
+                                  2963.6502662461776,
+                                  1843.22950428842,
+                                  2505.657053829795],
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_m',
+ 'seed': 50403,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.75, 1.1),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.7,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/12 03:21:19 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/12 03:21:19 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/12 03:21:19 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/12 03:21:19 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/12 03:21:19 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/12 03:21:19 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/12 03:21:19 INFO: {'batch_num': 2,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_004'),
+ '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 0x7481baa87d50>,
+ 'robot_config': {'K_damping': [793.0831592413665,
+                                241.62769618042807,
+                                300.12442783719814,
+                                440.9812092338339,
+                                500.000000000004,
+                                311.89516163317654,
+                                500.000000000004],
+                  'K_stiffness': [5132.972657172051,
+                                  1060.4599870990814,
+                                  1814.2516466742627,
+                                  2282.7973699783515,
+                                  2963.6502662461776,
+                                  1843.22950428842,
+                                  2505.657053829795],
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_m',
+ 'seed': 50402,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.75, 1.1),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.7,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/12 03:21:19 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/12 03:21:19 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/12 03:21:19 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/12 03:21:20 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/12 03:21:20 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/12 03:21:23 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/12 03:21:23 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/12 03:21:23 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/12 03:21:23 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/12 03:21:23 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/12 03:21:23 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/12 03:21:23 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 03:21:23 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 03:21:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:21:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:21:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:21:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:21:23 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 03:21:23 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 03:21:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 03:21:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.019m, effective arm-mount z=0.879m (base_body_z=0.019m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 03:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 03:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 03:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.019138m	[env.py: 870]
+05/12 03:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 03:21:23 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/12 03:21:23 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/12 03:21:23 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/12 03:21:23 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 03:21:23 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 03:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 03:21:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:21:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 69.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:21:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:21:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:21:23 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 03:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 115.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 107.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:21:23 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 03:21:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 03:21:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.030m, effective arm-mount z=0.890m (base_body_z=0.030m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 03:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 03:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 03:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.029788m	[env.py: 870]
+05/12 03:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 03:21:23 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/12 03:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 78.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 175.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.69101141  0.40136887  0.01913845] yaw=145.4deg	[env.py: 1019]
+05/12 03:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 03:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 03:21:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=21.5ms, retries=175.0ms, total=196.5ms	[env.py: 1075]
+05/12 03:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.691, 0.401, 0.019)	[env.py: 1079]
+05/12 03:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 145.4 deg	[env.py: 1082]
+05/12 03:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.015m	[env.py: 1086]
+05/12 03:21:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:21:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:21:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:21:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 03:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -29.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.95293569  0.74358767  0.02978793] yaw=-178.1deg	[env.py: 1019]
+05/12 03:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 03:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 67.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.71529474  0.20010348  0.02978793] yaw=128.3deg	[env.py: 1019]
+05/12 03:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 03:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.62845636  0.42014048  0.02978793] yaw=160.9deg	[env.py: 1019]
+05/12 03:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 03:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 03:21:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=106.8ms, retries=221.0ms, total=327.8ms	[env.py: 1075]
+05/12 03:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.953, 0.744, 0.030)	[env.py: 1079]
+05/12 03:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -178.1 deg	[env.py: 1082]
+05/12 03:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.794m	[env.py: 1086]
+05/12 03:21:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:21:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:21:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:21:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:21:23 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 03:21:23 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/12 03:21:24 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 03:21:24 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/12 03:21:25 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/12 03:21:25 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/12 03:21:25 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/12 03:21:25 INFO: {'batch_num': 4,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_004'),
+ '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 0x7c4188457890>,
+ 'robot_config': {'K_damping': [793.0831592413665,
+                                241.62769618042807,
+                                300.12442783719814,
+                                440.9812092338339,
+                                500.000000000004,
+                                311.89516163317654,
+                                500.000000000004],
+                  'K_stiffness': [5132.972657172051,
+                                  1060.4599870990814,
+                                  1814.2516466742627,
+                                  2282.7973699783515,
+                                  2963.6502662461776,
+                                  1843.22950428842,
+                                  2505.657053829795],
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_m',
+ 'seed': 50404,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.75, 1.1),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.7,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/12 03:21:25 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/12 03:21:25 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/12 03:21:25 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/12 03:21:25 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/12 03:21:25 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/12 03:21:25 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/12 03:21:25 INFO: {'batch_num': 1,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_004'),
+ '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 0x764302b85210>,
+ 'robot_config': {'K_damping': [793.0831592413665,
+                                241.62769618042807,
+                                300.12442783719814,
+                                440.9812092338339,
+                                500.000000000004,
+                                311.89516163317654,
+                                500.000000000004],
+                  'K_stiffness': [5132.972657172051,
+                                  1060.4599870990814,
+                                  1814.2516466742627,
+                                  2282.7973699783515,
+                                  2963.6502662461776,
+                                  1843.22950428842,
+                                  2505.657053829795],
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_m',
+ 'seed': 50401,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.75, 1.1),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.7,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/12 03:21:25 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/12 03:21:25 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/12 03:21:25 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/12 03:21:25 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/12 03:21:25 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/12 03:21:28 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/12 03:21:28 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/12 03:21:28 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/12 03:21:28 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/12 03:21:28 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/12 03:21:28 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/12 03:21:28 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 03:21:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 03:21:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:21:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:21:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:21:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:21:28 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 03:21:28 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 03:21:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 03:21:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.001m, effective arm-mount z=0.861m (base_body_z=0.001m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 03:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 03:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 03:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.001118m	[env.py: 870]
+05/12 03:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 03:21:28 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/12 03:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 03:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.69707348  0.88395616  0.00111771] yaw=-175.9deg	[env.py: 1019]
+05/12 03:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 03:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.11436652  1.08288117  0.00111771] yaw=-135.0deg	[env.py: 1019]
+05/12 03:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 03:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.99378904  0.87997776  0.00111771] yaw=-127.7deg	[env.py: 1019]
+05/12 03:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 03:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 03:21:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=21.1ms, retries=92.9ms, total=114.0ms	[env.py: 1075]
+05/12 03:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.697, 0.884, 0.001)	[env.py: 1079]
+05/12 03:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -175.9 deg	[env.py: 1082]
+05/12 03:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.083m	[env.py: 1086]
+05/12 03:21:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:21:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:21:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:21:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:21:28 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/12 03:21:28 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/12 03:21:28 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 03:21:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 03:21:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:21:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:21:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:21:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:21:28 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 03:21:28 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 03:21:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 03:21:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.025m, effective arm-mount z=0.885m (base_body_z=0.025m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 03:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 03:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 03:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.025331m	[env.py: 870]
+05/12 03:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 03:21:28 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/12 03:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 03:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.85254803  0.99180538  0.02533078] yaw=-129.2deg	[env.py: 1019]
+05/12 03:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 03:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -51.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.87194074  1.10311914  0.02533078] yaw=-155.5deg	[env.py: 1019]
+05/12 03:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 03:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 79.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -61.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.81607618  0.81540224  0.02533078] yaw=-145.5deg	[env.py: 1019]
+05/12 03:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 03:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 03:21:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=21.1ms, retries=162.1ms, total=183.2ms	[env.py: 1075]
+05/12 03:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.853, 0.992, 0.025)	[env.py: 1079]
+05/12 03:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -129.2 deg	[env.py: 1082]
+05/12 03:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.991m	[env.py: 1086]
+05/12 03:21:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:21:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:21:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:21:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:21:28 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 03:21:28 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/12 03:21:29 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 03:21:29 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/12 03:21:59 INFO: [Worker 0] Warmed up parallel IK solver in 35.298s	[base_object_manipulation_planner_policy.py: 377]
+05/12 03:21:59 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]
+05/12 03:21:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 03:21:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.087s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 03:22:00 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.005s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 03:22:00 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.384[m] 94.115[deg]	[grasp_sample.py: 539]
+05/12 03:22:00 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 03:22:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 03:22:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:22:01 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 03:22:01 INFO: [Worker 0] Warmed up parallel IK solver in 37.878s	[base_object_manipulation_planner_policy.py: 377]
+05/12 03:22:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 03:22:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 03:22:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 03:22:02 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.914s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 03:22:02 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.649[m] 89.011[deg]	[grasp_sample.py: 539]
+05/12 03:22:02 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 03:22:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 03:22:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:22:03 INFO: [Worker 0] Warmed up parallel IK solver in 34.829s	[base_object_manipulation_planner_policy.py: 377]
+05/12 03:22:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 03:22:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 03:22:03 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 03:22:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.096s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 03:22:04 INFO: [Worker 0] Warmed up parallel IK solver in 35.029s	[base_object_manipulation_planner_policy.py: 377]
+05/12 03:22:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 03:22:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 03:22:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 03:22:06 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.761s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 03:22:06 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.660[m] 91.232[deg]	[grasp_sample.py: 539]
+05/12 03:22:06 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 03:22:07 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 03:22:07 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:22:07 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 03:22:08 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.077s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 03:22:08 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.583[m] 87.065[deg]	[grasp_sample.py: 539]
+05/12 03:22:08 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 03:22:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 03:22:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:22:09 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 03:22:33 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:22:43 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 03:22:47 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:22:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:22:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:23:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:23:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:23:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:23:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:23:05 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:23:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:23:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:23:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:23:09 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 03:23:09 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 03:23:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 03:23:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 03:23:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 03:23:10 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 03:23:14 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:23:14 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 03:23:17 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:23:18 INFO: [Worker 0] Feasibility-checked 88 grasps in 8.040s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 03:23:18 INFO: [Worker 0] Feasible grasp found 105 (originally 105): w/ 0.282[m] 5.266[deg]	[grasp_sample.py: 539]
+05/12 03:23:19 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/12 03:23:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 03:23:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 03:23:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 03:23:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:23:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:23:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:23:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:23:20 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 03:23:20 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 03:23:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 03:23:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.004m, effective arm-mount z=0.864m (base_body_z=0.004m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 03:23:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 03:23:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 03:23:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.004293m	[env.py: 870]
+05/12 03:23:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 03:23:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 03:23:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 03:23:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -55.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:23:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.67485678  0.50988134  0.00429319] yaw=-156.6deg	[env.py: 1019]
+05/12 03:23:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 03:23:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.85747939  0.27472862  0.00429319] yaw=200.7deg	[env.py: 1019]
+05/12 03:23:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 03:23:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 129.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:23:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.98408456  1.04885275  0.00429319] yaw=-178.4deg	[env.py: 1019]
+05/12 03:23:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 03:23:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 03:23:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=203.0ms, total=203.1ms	[env.py: 1075]
+05/12 03:23:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.675, 0.510, 0.004)	[env.py: 1079]
+05/12 03:23:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -156.6 deg	[env.py: 1082]
+05/12 03:23:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.028m	[env.py: 1086]
+05/12 03:23:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:23:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:23:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:23:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:23:21 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 03:23:21 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/12 03:23:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.090s	[base_object_manipulation_planner_policy.py: 377]
+05/12 03:23:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 03:23:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 03:23:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 03:23:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.127s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 03:23:22 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.658[m] 94.608[deg]	[grasp_sample.py: 539]
+05/12 03:23:22 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 03:23:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 03:23:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:23:23 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 03:24:21 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:24:22 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 03:24:24 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 03:24:28 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 03:24:30 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 03:24:34 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:24:49 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/12 03:24:49 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/12 03:24:49 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 03:24:51 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/12 03:24:51 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/12 03:24:51 INFO: [Worker 0] Preparing episode data: 298 timesteps	[save_utils.py: 278]
+05/12 03:24:55 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/12 03:24:55 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/12 03:24:55 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 03:25:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 03:25:05 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_004	[save_utils.py: 785]
+05/12 03:25:05 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 15.61s (batch: 4.55s, save: 11.06s)	[pipeline.py: 300]
+05/12 03:25:05 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=3.32s:
+  episode_total: mean=220.40s, total=220.40s, count=1, min=220400.4ms, max=220400.4ms
+  sensor_polling: mean=417.5ms, total=125.26s, count=300, min=378.6ms, max=680.9ms
+  save_trajectories: mean=11.06s, total=11.06s, count=1, min=11060.0ms, max=11060.0ms
+  physics_step: mean=27.1ms, total=8.14s, count=300, min=21.5ms, max=39.1ms
+  save_batch_prep: mean=4.55s, total=4.55s, count=1, min=4549.7ms, max=4549.7ms
+  task_sampling: mean=3.32s, total=3.32s, count=1, min=3318.4ms, max=3318.4ms
+  scene_load: mean=2.87s, total=2.87s, count=1, min=2868.6ms, max=2868.6ms
+  scene_env_create: mean=1.80s, total=1.80s, count=1, min=1804.0ms, max=1804.0ms
+  scene_compile: mean=895.4ms, total=895.4ms, count=1, min=895.4ms, max=895.4ms
+  compile_mujoco: mean=633.3ms, total=633.3ms, count=1, min=633.3ms, max=633.3ms
+  task_specific_sample: mean=447.0ms, total=447.0ms, count=1, min=447.0ms, max=447.0ms
+  compile_xml_load: mean=185.9ms, total=185.9ms, count=1, min=185.9ms, max=185.9ms
+  scene_init: mean=115.9ms, total=115.9ms, count=1, min=115.9ms, max=115.9ms
+  compile_aux_objects: mean=54.1ms, total=54.1ms, count=1, min=54.1ms, max=54.1ms
+  compile_aux_policy_objects: mean=54.1ms, total=54.1ms, count=1, min=54.1ms, max=54.1ms
+  scene_asset_install: mean=53.0ms, total=53.0ms, count=1, min=53.0ms, max=53.0ms
+  asset_install_grasps: mean=38.3ms, total=38.3ms, count=1, min=38.3ms, max=38.3ms
+  asset_install_objects: mean=11.4ms, total=11.4ms, count=1, min=11.4ms, max=11.4ms
+  compile_robot_add: mean=8.3ms, total=8.3ms, count=1, min=8.3ms, max=8.3ms
+  asset_install_scene: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
+  scene_randomize: mean=1.2ms, total=1.2ms, count=1, min=1.2ms, max=1.2ms
+  mj_forward_sync: mean=457.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=51.1us, total=0.1ms, count=1, min=0.1ms, max=0.1ms	[profiler_utils.py: 380]
+05/12 03:25:07 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 03:25:07 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_004	[save_utils.py: 785]
+05/12 03:25:07 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 15.57s (batch: 4.49s, save: 11.08s)	[pipeline.py: 300]
+05/12 03:25:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 03:25:07 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 03:25:07 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 03:25:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:25:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:25:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:25:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:25:07 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 03:25:07 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 03:25:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 03:25:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.085m, effective arm-mount z=0.945m (base_body_z=0.085m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 03:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 03:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 03:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.084751m	[env.py: 870]
+05/12 03:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 03:25:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 03:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 03:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -69.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.62932238  0.57783744  0.08475113] yaw=-169.1deg	[env.py: 1019]
+05/12 03:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 03:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.77768964  0.36575411  0.08475113] yaw=165.5deg	[env.py: 1019]
+05/12 03:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 03:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.70316556  0.50480401  0.08475113] yaw=-215.0deg	[env.py: 1019]
+05/12 03:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 03:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 03:25:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=103.7ms, total=103.7ms	[env.py: 1075]
+05/12 03:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.629, 0.578, 0.085)	[env.py: 1079]
+05/12 03:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -169.1 deg	[env.py: 1082]
+05/12 03:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.077m	[env.py: 1086]
+05/12 03:25:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:25:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:25:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:25:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:25:07 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 03:25:07 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/12 03:25:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.102s	[base_object_manipulation_planner_policy.py: 377]
+05/12 03:25:07 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]
+05/12 03:25:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 03:25:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.097s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 03:25:08 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=4.04s:
+  episode_total: mean=228.06s, total=228.06s, count=1, min=228060.5ms, max=228060.5ms
+  sensor_polling: mean=449.3ms, total=133.45s, count=297, min=402.2ms, max=741.2ms
+  save_trajectories: mean=11.08s, total=11.08s, count=1, min=11078.2ms, max=11078.2ms
+  physics_step: mean=26.5ms, total=7.86s, count=297, min=17.4ms, max=62.6ms
+  save_batch_prep: mean=4.49s, total=4.49s, count=1, min=4486.8ms, max=4486.8ms
+  task_sampling: mean=4.04s, total=4.04s, count=1, min=4038.7ms, max=4038.7ms
+  scene_load: mean=3.32s, total=3.32s, count=1, min=3316.1ms, max=3316.1ms
+  scene_env_create: mean=1.93s, total=1.93s, count=1, min=1925.0ms, max=1925.0ms
+  scene_compile: mean=1.21s, total=1.21s, count=1, min=1209.3ms, max=1209.3ms
+  compile_mujoco: mean=746.9ms, total=746.9ms, count=1, min=746.9ms, max=746.9ms
+  task_specific_sample: mean=718.6ms, total=718.6ms, count=1, min=718.6ms, max=718.6ms
+  compile_xml_load: mean=364.5ms, total=364.5ms, count=1, min=364.5ms, max=364.5ms
+  scene_init: mean=128.8ms, total=128.8ms, count=1, min=128.8ms, max=128.8ms
+  compile_aux_objects: mean=61.2ms, total=61.2ms, count=1, min=61.2ms, max=61.2ms
+  compile_aux_policy_objects: mean=61.2ms, total=61.2ms, count=1, min=61.2ms, max=61.2ms
+  scene_asset_install: mean=52.5ms, total=52.5ms, count=1, min=52.5ms, max=52.5ms
+  asset_install_grasps: mean=37.5ms, total=37.5ms, count=1, min=37.5ms, max=37.5ms
+  compile_robot_add: mean=25.5ms, total=25.5ms, count=1, min=25.5ms, max=25.5ms
+  asset_install_objects: mean=11.7ms, total=11.7ms, count=1, min=11.7ms, max=11.7ms
+  asset_install_scene: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms
+  scene_randomize: mean=2.1ms, total=2.1ms, count=1, min=2.1ms, max=2.1ms
+  mj_forward_sync: mean=646.3us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=62.8us, total=0.1ms, count=1, min=0.1ms, max=0.1ms	[profiler_utils.py: 380]
+05/12 03:25:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.216s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 03:25:09 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.662[m] 90.608[deg]	[grasp_sample.py: 539]
+05/12 03:25:09 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 03:25:09 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 03:25:09 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:25:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 03:25:09 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 03:25:09 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 03:25:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:25:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:25:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:25:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:25:09 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 03:25:09 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 03:25:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 03:25:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.011m, effective arm-mount z=0.871m (base_body_z=0.011m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 03:25:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 03:25:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 03:25:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.011251m	[env.py: 870]
+05/12 03:25:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 03:25:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 03:25:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 03:25:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -57.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:25:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.823701    0.19845775  0.01125085] yaw=174.3deg	[env.py: 1019]
+05/12 03:25:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 03:25:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 99.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:25:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 119.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:25:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.953643    0.6281256   0.01125085] yaw=-205.4deg	[env.py: 1019]
+05/12 03:25:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 03:25:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 03:25:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=377.8ms, total=377.8ms	[env.py: 1075]
+05/12 03:25:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.824, 0.198, 0.011)	[env.py: 1079]
+05/12 03:25:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 174.3 deg	[env.py: 1082]
+05/12 03:25:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.923m	[env.py: 1086]
+05/12 03:25:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:25:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:25:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:25:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:25:10 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 03:25:10 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 03:25:10 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/12 03:25:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.099s	[base_object_manipulation_planner_policy.py: 377]
+05/12 03:25:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 03:25:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 03:25:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 03:25:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 03:25:10 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_004	[save_utils.py: 785]
+05/12 03:25:10 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 15.40s (batch: 4.15s, save: 11.25s)	[pipeline.py: 300]
+05/12 03:25:11 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.066s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 03:25:11 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.472[m] 83.759[deg]	[grasp_sample.py: 539]
+05/12 03:25:11 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=3.48s:
+  episode_total: mean=225.84s, total=225.84s, count=1, min=225841.3ms, max=225841.3ms
+  sensor_polling: mean=432.6ms, total=129.79s, count=300, min=390.6ms, max=684.2ms
+  save_trajectories: mean=11.25s, total=11.25s, count=1, min=11253.6ms, max=11253.6ms
+  physics_step: mean=25.6ms, total=7.68s, count=300, min=18.3ms, max=43.1ms
+  save_batch_prep: mean=4.15s, total=4.15s, count=1, min=4151.2ms, max=4151.2ms
+  task_sampling: mean=3.48s, total=3.48s, count=1, min=3476.6ms, max=3476.6ms
+  scene_load: mean=2.97s, total=2.97s, count=1, min=2973.9ms, max=2973.9ms
+  scene_env_create: mean=1.78s, total=1.78s, count=1, min=1777.6ms, max=1777.6ms
+  scene_compile: mean=900.4ms, total=900.4ms, count=1, min=900.4ms, max=900.4ms
+  compile_mujoco: mean=602.4ms, total=602.4ms, count=1, min=602.4ms, max=602.4ms
+  task_specific_sample: mean=499.7ms, total=499.7ms, count=1, min=499.7ms, max=499.7ms
+  scene_init: mean=244.0ms, total=244.0ms, count=1, min=244.0ms, max=244.0ms
+  compile_xml_load: mean=198.6ms, total=198.6ms, count=1, min=198.6ms, max=198.6ms
+  compile_aux_objects: mean=75.2ms, total=75.2ms, count=1, min=75.2ms, max=75.2ms
+  compile_aux_policy_objects: mean=75.2ms, total=75.2ms, count=1, min=75.2ms, max=75.2ms
+  scene_asset_install: mean=51.5ms, total=51.5ms, count=1, min=51.5ms, max=51.5ms
+  asset_install_grasps: mean=36.9ms, total=36.9ms, count=1, min=36.9ms, max=36.9ms
+  compile_robot_add: mean=13.5ms, total=13.5ms, count=1, min=13.5ms, max=13.5ms
+  asset_install_objects: mean=11.5ms, total=11.5ms, count=1, min=11.5ms, max=11.5ms
+  asset_install_scene: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
+  scene_randomize: mean=1.3ms, total=1.3ms, count=1, min=1.3ms, max=1.3ms
+  mj_forward_sync: mean=473.9us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=59.3us, total=0.1ms, count=1, min=0.1ms, max=0.1ms	[profiler_utils.py: 380]
+05/12 03:25:11 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 03:25:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 03:25:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:25:12 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 03:25:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 03:25:12 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 03:25:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 03:25:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:25:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:25:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:25:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:25:12 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 03:25:12 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: 178]
+05/12 03:25:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 03:25:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.010m, effective arm-mount z=0.870m (base_body_z=0.010m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 03:25:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 03:25:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 03:25:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.009822m	[env.py: 870]
+05/12 03:25:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 03:25:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 03:25:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 03:25:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.90007467  0.56366905  0.00982192] yaw=-208.5deg	[env.py: 1019]
+05/12 03:25:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 03:25:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.63049619  0.42830365  0.00982192] yaw=165.1deg	[env.py: 1019]
+05/12 03:25:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 03:25:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.69870616  0.21642503  0.00982192] yaw=193.2deg	[env.py: 1019]
+05/12 03:25:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 03:25:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 03:25:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=147.4ms, total=147.5ms	[env.py: 1075]
+05/12 03:25:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.900, 0.564, 0.010)	[env.py: 1079]
+05/12 03:25:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -208.5 deg	[env.py: 1082]
+05/12 03:25:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.806m	[env.py: 1086]
+05/12 03:25:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:25:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:25:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:25:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:25:13 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 03:25:13 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/12 03:25:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.094s	[base_object_manipulation_planner_policy.py: 377]
+05/12 03:25:13 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]
+05/12 03:25:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 03:25:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 03:25:14 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.785s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 03:25:14 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.467[m] 92.801[deg]	[grasp_sample.py: 539]
+05/12 03:25:14 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 03:25:14 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 03:25:14 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:25:15 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 03:25:43 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 03:25:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:25:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:26:03 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 03:26:03 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 03:26:07 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:26:08 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:26:12 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/12 03:26:12 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/12 03:26:12 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 03:26:13 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:26:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:26:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:26:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 03:26:28 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_004	[save_utils.py: 785]
+05/12 03:26:28 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 15.85s (batch: 4.17s, save: 11.68s)	[pipeline.py: 300]
+05/12 03:26:29 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=4.42s:
+  episode_total: mean=153.89s, total=307.79s, count=2, min=119410.4ms, max=188375.5ms
+  sensor_polling: mean=427.9ms, total=180.59s, count=422, min=390.1ms, max=776.0ms
+  save_trajectories: mean=11.68s, total=11.68s, count=1, min=11675.8ms, max=11675.8ms
+  physics_step: mean=24.5ms, total=10.33s, count=422, min=16.9ms, max=37.0ms
+  task_sampling: mean=2.21s, total=4.42s, count=2, min=459.6ms, max=3961.7ms
+  save_batch_prep: mean=4.17s, total=4.17s, count=1, min=4170.6ms, max=4170.6ms
+  scene_load: mean=3.39s, total=3.39s, count=1, min=3389.7ms, max=3389.7ms
+  scene_env_create: mean=1.94s, total=1.94s, count=1, min=1936.0ms, max=1936.0ms
+  scene_compile: mean=1.28s, total=1.28s, count=1, min=1282.6ms, max=1282.6ms
+  task_specific_sample: mean=512.6ms, total=1.03s, count=2, min=456.1ms, max=569.1ms
+  compile_mujoco: mean=713.5ms, total=713.5ms, count=1, min=713.5ms, max=713.5ms
+  compile_xml_load: mean=477.2ms, total=477.2ms, count=1, min=477.2ms, max=477.2ms
+  scene_init: mean=117.7ms, total=117.7ms, count=1, min=117.7ms, max=117.7ms
+  compile_aux_objects: mean=54.9ms, total=54.9ms, count=1, min=54.9ms, max=54.9ms
+  compile_aux_policy_objects: mean=54.8ms, total=54.8ms, count=1, min=54.8ms, max=54.8ms
+  scene_asset_install: mean=53.3ms, total=53.3ms, count=1, min=53.3ms, max=53.3ms
+  asset_install_grasps: mean=38.0ms, total=38.0ms, count=1, min=38.0ms, max=38.0ms
+  compile_robot_add: mean=25.0ms, total=25.0ms, count=1, min=25.0ms, max=25.0ms
+  asset_install_objects: mean=11.7ms, total=11.7ms, count=1, min=11.7ms, max=11.7ms
+  asset_install_scene: mean=3.6ms, total=3.6ms, count=1, min=3.6ms, max=3.6ms
+  scene_randomize: mean=1.5ms, total=3.0ms, count=2, min=1.1ms, max=1.9ms
+  mj_forward_sync: mean=448.9us, total=0.9ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=21.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 03:26:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:26:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 03:26:30 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 03:26:30 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 03:26:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:26:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:26:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:26:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:26:30 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 03:26:30 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 03:26:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 03:26:30 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: 256]
+05/12 03:26:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 03:26:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 03:26:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.017584m	[env.py: 870]
+05/12 03:26:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 03:26:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 03:26:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 03:26:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.955895    0.70197305  0.01758369] yaw=-161.2deg	[env.py: 1019]
+05/12 03:26:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 03:26:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 109.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:26:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.93387001  0.09876351  0.01758369] yaw=131.9deg	[env.py: 1019]
+05/12 03:26:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 03:26:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 109.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:26:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 97.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:26:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.86555518  0.15004414  0.01758369] yaw=146.1deg	[env.py: 1019]
+05/12 03:26:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 03:26:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 03:26:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=197.3ms, total=197.4ms	[env.py: 1075]
+05/12 03:26:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.956, 0.702, 0.018)	[env.py: 1079]
+05/12 03:26:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -161.2 deg	[env.py: 1082]
+05/12 03:26:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.778m	[env.py: 1086]
+05/12 03:26:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:26:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:26:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:26:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:26:31 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 03:26:31 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/12 03:26:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.106s	[base_object_manipulation_planner_policy.py: 377]
+05/12 03:26:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 03:26:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 03:26:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 03:26:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:26:32 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.862s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 03:26:32 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.332[m] 86.370[deg]	[grasp_sample.py: 539]
+05/12 03:26:32 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 03:26:32 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 03:26:32 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:26:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:26:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:26:35 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 03:26:39 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:26:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:26:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:26:42 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 03:26:42 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 03:26:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 03:26:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 03:26:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.092s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/12 03:26:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:26:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:26:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:26:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:26:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:27:00 INFO: [Worker 0] Feasibility-checked 76 grasps in 16.997s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 03:27:00 INFO: [Worker 0] Feasible grasp found 130 (originally 15): w/ 0.153[m] 11.864[deg]	[grasp_sample.py: 539]
+05/12 03:27:00 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 03:27:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 03:27:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:27:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:27:02 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:27:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:27:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:27:05 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 03:27:05 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 03:27:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 03:27:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 03:27:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.081s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/12 03:27:05 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.630s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 03:27:05 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.217[deg]	[grasp_sample.py: 539]
+05/12 03:27:06 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 03:27:07 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 03:27:07 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:27:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:27:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:27:12 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 03:27:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:27:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:27:15 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:27:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:27:16 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:27:22 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:27:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:27:24 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 03:27:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:27:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:27:28 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:27:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:27:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:27:31 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 03:27:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:27:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:27:35 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:27:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:27:36 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 03:27:36 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 03:27:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 03:27:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 03:27:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.089s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/12 03:27:37 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.726s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 03:27:37 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.884[deg]	[grasp_sample.py: 539]
+05/12 03:27:37 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 03:27:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 03:27:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:27:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:27:44 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:27:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:27:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:27:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:27:53 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 03:28:05 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/12 03:28:05 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=False episode_total=0.38s:
+  episode_total: mean=178.39s, total=178.39s, count=1, min=178387.6ms, max=178387.6ms
+  sensor_polling: mean=436.9ms, total=131.07s, count=300, min=377.1ms, max=717.0ms
+  physics_step: mean=26.1ms, total=7.82s, count=300, min=19.9ms, max=33.8ms
+  task_sampling: mean=381.8ms, total=381.8ms, count=1, min=381.8ms, max=381.8ms
+  task_specific_sample: mean=377.8ms, total=377.8ms, count=1, min=377.8ms, max=377.8ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=455.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=22.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 03:28:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 03:28:07 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 03:28:07 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 03:28:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:28:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:28:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:28:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:28:07 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 03:28:07 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 03:28:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 03:28:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.067m, effective arm-mount z=0.927m (base_body_z=0.067m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 03:28:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 03:28:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 03:28:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.067359m	[env.py: 870]
+05/12 03:28:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 03:28:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 03:28:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 03:28:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.76325931  0.3235799   0.06735904] yaw=156.1deg	[env.py: 1019]
+05/12 03:28:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 03:28:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.99176243  0.75663033  0.06735904] yaw=-137.9deg	[env.py: 1019]
+05/12 03:28:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 03:28:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.89591567  0.42921296  0.06735904] yaw=150.7deg	[env.py: 1019]
+05/12 03:28:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 03:28:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 03:28:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=138.1ms, total=138.1ms	[env.py: 1075]
+05/12 03:28:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.763, 0.324, 0.067)	[env.py: 1079]
+05/12 03:28:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 156.1 deg	[env.py: 1082]
+05/12 03:28:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.952m	[env.py: 1086]
+05/12 03:28:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:28:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:28:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:28:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:28:07 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 03:28:07 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/12 03:28:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.096s	[base_object_manipulation_planner_policy.py: 377]
+05/12 03:28:07 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]
+05/12 03:28:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 03:28:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 03:28:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.075s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 03:28:09 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.550[m] 98.667[deg]	[grasp_sample.py: 539]
+05/12 03:28:09 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 03:28:09 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 03:28:09 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:28:10 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 03:28:12 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 03:28:21 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/12 03:28:21 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/12 03:28:21 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 03:28:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 03:28:38 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_004	[save_utils.py: 785]
+05/12 03:28:38 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 17.15s (batch: 4.28s, save: 12.88s)	[pipeline.py: 300]
+05/12 03:28:39 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.67s:
+  episode_total: mean=210.34s, total=210.34s, count=1, min=210338.7ms, max=210338.7ms
+  sensor_polling: mean=446.6ms, total=133.98s, count=300, min=405.7ms, max=801.9ms
+  save_trajectories: mean=12.88s, total=12.88s, count=1, min=12875.8ms, max=12875.8ms
+  physics_step: mean=26.3ms, total=7.88s, count=300, min=20.3ms, max=35.3ms
+  save_batch_prep: mean=4.28s, total=4.28s, count=1, min=4277.0ms, max=4277.0ms
+  task_sampling: mean=672.4ms, total=672.4ms, count=1, min=672.4ms, max=672.4ms
+  task_specific_sample: mean=668.5ms, total=668.5ms, count=1, min=668.5ms, max=668.5ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=457.9us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=22.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 03:28:40 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/12 03:28:40 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/12 03:28:40 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 03:28:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 03:28:41 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 03:28:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 03:28:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:28:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:28:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:28:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:28:41 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 03:28:41 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 03:28:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 03:28:41 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: 256]
+05/12 03:28:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 03:28:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 03:28:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.096524m	[env.py: 870]
+05/12 03:28:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 03:28:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 03:28:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 03:28:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.76061152  0.2775011   0.09652356] yaw=193.7deg	[env.py: 1019]
+05/12 03:28:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 03:28:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 85.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:28:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -43.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:28:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 157.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:28:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 94.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:28:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.01769741  1.01193079  0.09652356] yaw=-144.5deg	[env.py: 1019]
+05/12 03:28:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 03:28:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.8946633   0.14304865  0.09652356] yaw=125.0deg	[env.py: 1019]
+05/12 03:28:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 03:28:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 03:28:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=254.2ms, total=254.2ms	[env.py: 1075]
+05/12 03:28:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.761, 0.278, 0.097)	[env.py: 1079]
+05/12 03:28:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 193.7 deg	[env.py: 1082]
+05/12 03:28:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.964m	[env.py: 1086]
+05/12 03:28:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:28:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:28:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:28:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:28:42 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 03:28:42 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/12 03:28:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s	[base_object_manipulation_planner_policy.py: 377]
+05/12 03:28:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 03:28:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 03:28:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.082s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 03:28:43 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.011s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 03:28:43 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.552[m] 79.194[deg]	[grasp_sample.py: 539]
+05/12 03:28:43 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 03:28:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 03:28:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:28:44 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 03:28:53 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 03:28:58 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 03:28:58 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_004	[save_utils.py: 785]
+05/12 03:28:58 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 17.07s (batch: 4.60s, save: 12.47s)	[pipeline.py: 300]
+05/12 03:28:58 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.45s:
+  episode_total: mean=225.91s, total=225.91s, count=1, min=225914.1ms, max=225914.1ms
+  sensor_polling: mean=429.5ms, total=128.86s, count=300, min=391.9ms, max=833.2ms
+  save_trajectories: mean=12.47s, total=12.47s, count=1, min=12474.3ms, max=12474.3ms
+  physics_step: mean=25.6ms, total=7.68s, count=300, min=15.5ms, max=36.0ms
+  save_batch_prep: mean=4.60s, total=4.60s, count=1, min=4597.3ms, max=4597.3ms
+  task_sampling: mean=446.5ms, total=446.5ms, count=1, min=446.5ms, max=446.5ms
+  task_specific_sample: mean=442.5ms, total=442.5ms, count=1, min=442.5ms, max=442.5ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=475.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=26.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 03:28:59 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:29:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 03:29:00 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 03:29:00 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 03:29:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:29:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:29:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:29:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:29:00 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 03:29:00 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 03:29:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 03:29:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.016m, effective arm-mount z=0.876m (base_body_z=0.016m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 03:29:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 03:29:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 03:29:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.015728m	[env.py: 870]
+05/12 03:29:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 03:29:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 03:29:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 03:29:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.6260148   0.35135259  0.01572848] yaw=205.3deg	[env.py: 1019]
+05/12 03:29:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 03:29:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 112.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:29:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.61894739  0.44044661  0.01572848] yaw=178.2deg	[env.py: 1019]
+05/12 03:29:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 03:29:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.74390352  0.90160538  0.01572848] yaw=-159.1deg	[env.py: 1019]
+05/12 03:29:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 03:29:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 03:29:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=165.4ms, total=165.5ms	[env.py: 1075]
+05/12 03:29:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.626, 0.351, 0.016)	[env.py: 1079]
+05/12 03:29:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 205.3 deg	[env.py: 1082]
+05/12 03:29:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.084m	[env.py: 1086]
+05/12 03:29:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:29:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:29:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:29:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:29:00 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 03:29:00 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/12 03:29:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.127s	[base_object_manipulation_planner_policy.py: 377]
+05/12 03:29:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 03:29:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 03:29:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.081s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 03:29:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.546s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 03:29:03 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.705[m] 77.103[deg]	[grasp_sample.py: 539]
+05/12 03:29:03 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 03:29:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 03:29:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:29:04 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 03:29:07 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 03:29:12 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:29:20 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/12 03:29:20 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/12 03:29:20 INFO: [Worker 0] Preparing episode data: 288 timesteps	[save_utils.py: 278]
+05/12 03:29:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 03:29:35 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_004	[save_utils.py: 785]
+05/12 03:29:35 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 14.76s (batch: 4.30s, save: 10.46s)	[pipeline.py: 300]
+05/12 03:29:35 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:29:36 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.48s:
+  episode_total: mean=185.80s, total=185.80s, count=1, min=185801.8ms, max=185801.8ms
+  sensor_polling: mean=454.3ms, total=130.39s, count=287, min=395.1ms, max=862.0ms
+  save_trajectories: mean=10.46s, total=10.46s, count=1, min=10459.9ms, max=10459.9ms
+  physics_step: mean=26.8ms, total=7.70s, count=287, min=21.8ms, max=35.6ms
+  save_batch_prep: mean=4.30s, total=4.30s, count=1, min=4295.1ms, max=4295.1ms
+  task_sampling: mean=482.1ms, total=482.1ms, count=1, min=482.1ms, max=482.1ms
+  task_specific_sample: mean=478.1ms, total=478.1ms, count=1, min=478.1ms, max=478.1ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=454.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=21.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 03:29:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 03:29:38 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 03:29:38 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 03:29:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:29:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:29:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:29:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:29:38 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 03:29:38 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 03:29:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 03:29:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.079m, effective arm-mount z=0.939m (base_body_z=0.079m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 03:29:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 03:29:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 03:29:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.078809m	[env.py: 870]
+05/12 03:29:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 03:29:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 03:29:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 03:29:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 176.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:29:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.66335402  0.51710781  0.07880927] yaw=-200.2deg	[env.py: 1019]
+05/12 03:29:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 03:29:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -66.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:29:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.85329759  0.91032732  0.07880927] yaw=-146.2deg	[env.py: 1019]
+05/12 03:29:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 03:29:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 164.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:29:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.65959652  0.37089663  0.07880927] yaw=136.2deg	[env.py: 1019]
+05/12 03:29:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 03:29:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 03:29:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=326.3ms, total=326.3ms	[env.py: 1075]
+05/12 03:29:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.663, 0.517, 0.079)	[env.py: 1079]
+05/12 03:29:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -200.2 deg	[env.py: 1082]
+05/12 03:29:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.040m	[env.py: 1086]
+05/12 03:29:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:29:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:29:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:29:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:29:38 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 03:29:38 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/12 03:29:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.112s	[base_object_manipulation_planner_policy.py: 377]
+05/12 03:29:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 03:29:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 03:29:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.088s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 03:29:40 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.136s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 03:29:40 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.636[m] 88.666[deg]	[grasp_sample.py: 539]
+05/12 03:29:40 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 03:29:40 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 03:29:40 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:29:41 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 03:29:45 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 03:29:50 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:30:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:30:17 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 03:30:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:30:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:30:21 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:30:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:30:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:30:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:30:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:30:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:30:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:30:32 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 03:30:32 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 03:30:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 03:30:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 03:30:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.097s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/12 03:30:32 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.648s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 03:30:32 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 1.371[deg]	[grasp_sample.py: 539]
+05/12 03:30:33 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 03:30:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 03:30:33 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:30:41 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:30:45 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:30:50 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 03:30:52 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 03:30:54 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:30:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:30:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:30:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:31:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:31:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:31:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:31:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:31:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:31:08 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 03:31:08 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 03:31:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 03:31:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 03:31:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.097s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/12 03:31:08 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.599s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 03:31:08 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.756[deg]	[grasp_sample.py: 539]
+05/12 03:31:08 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 03:31:09 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 03:31:09 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:31:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:9	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:31:11 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 03:31:11 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 03:31:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 03:31:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 03:31:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.096s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/12 03:31:11 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.622s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 03:31:11 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.735[deg]	[grasp_sample.py: 539]
+05/12 03:31:12 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 03:31:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 03:31:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:31:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:10	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:31:13 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 03:31:13 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 03:31:13 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]
+05/12 03:31:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 03:31:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/12 03:31:14 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.593s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 03:31:14 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.719[deg]	[grasp_sample.py: 539]
+05/12 03:31:14 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 03:31:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 03:31:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:31:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:31:22 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/12 03:31:22 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/12 03:31:22 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 03:31:25 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:31:27 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 03:31:32 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 03:31:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 03:31:39 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_004	[save_utils.py: 785]
+05/12 03:31:39 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 16.75s (batch: 4.88s, save: 11.87s)	[pipeline.py: 300]
+05/12 03:31:39 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.41s:
+  episode_total: mean=212.25s, total=212.25s, count=1, min=212251.9ms, max=212251.9ms
+  sensor_polling: mean=438.2ms, total=131.47s, count=300, min=375.9ms, max=889.6ms
+  save_trajectories: mean=11.87s, total=11.87s, count=1, min=11872.7ms, max=11872.7ms
+  physics_step: mean=27.5ms, total=8.24s, count=300, min=21.6ms, max=75.5ms
+  save_batch_prep: mean=4.88s, total=4.88s, count=1, min=4875.4ms, max=4875.4ms
+  task_sampling: mean=408.8ms, total=408.8ms, count=1, min=408.8ms, max=408.8ms
+  task_specific_sample: mean=405.1ms, total=405.1ms, count=1, min=405.1ms, max=405.1ms
+  scene_randomize: mean=1.5ms, total=1.5ms, count=1, min=1.5ms, max=1.5ms
+  mj_forward_sync: mean=606.4us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=20.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 03:31:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 03:31:41 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 03:31:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 03:31:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:31:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:31:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:31:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:31:41 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 03:31:41 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 03:31:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 03:31:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.090m, effective arm-mount z=0.950m (base_body_z=0.090m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 03:31:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 03:31:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 03:31:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.089732m	[env.py: 870]
+05/12 03:31:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 03:31:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 03:31:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 03:31:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -49.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:31:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 104.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:31:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -57.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:31:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 76.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:31:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -43.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:31:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.82589004  0.59278463  0.08973151] yaw=-195.4deg	[env.py: 1019]
+05/12 03:31:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 03:31:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 03:31:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=217.0ms, total=217.0ms	[env.py: 1075]
+05/12 03:31:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.826, 0.593, 0.090)	[env.py: 1079]
+05/12 03:31:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -195.4 deg	[env.py: 1082]
+05/12 03:31:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.883m	[env.py: 1086]
+05/12 03:31:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:31:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:31:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:31:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:31:41 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 03:31:41 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/12 03:31:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.110s	[base_object_manipulation_planner_policy.py: 377]
+05/12 03:31:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 03:31:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 03:31:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 03:31:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.881s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 03:31:42 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.471[m] 84.063[deg]	[grasp_sample.py: 539]
+05/12 03:31:43 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 03:31:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 03:31:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:31:54 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/12 03:31:54 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/12 03:31:54 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 03:31:59 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/12 03:31:59 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/12 03:31:59 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 03:32:05 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 03:32:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 03:32:09 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_004	[save_utils.py: 785]
+05/12 03:32:09 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 15.52s (batch: 4.35s, save: 11.17s)	[pipeline.py: 300]
+05/12 03:32:10 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.51s:
+  episode_total: mean=190.51s, total=190.51s, count=1, min=190506.0ms, max=190506.0ms
+  sensor_polling: mean=442.1ms, total=132.62s, count=300, min=387.7ms, max=822.0ms
+  save_trajectories: mean=11.17s, total=11.17s, count=1, min=11166.6ms, max=11166.6ms
+  physics_step: mean=26.5ms, total=7.95s, count=300, min=17.6ms, max=36.7ms
+  save_batch_prep: mean=4.35s, total=4.35s, count=1, min=4348.8ms, max=4348.8ms
+  task_sampling: mean=510.7ms, total=510.7ms, count=1, min=510.7ms, max=510.7ms
+  task_specific_sample: mean=506.8ms, total=506.8ms, count=1, min=506.8ms, max=506.8ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=471.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=29.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 03:32:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 03:32:12 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 03:32:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 03:32:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:32:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:32:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:32:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:32:12 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 03:32:12 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: 178]
+05/12 03:32:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 03:32:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.005m, effective arm-mount z=0.865m (base_body_z=0.005m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 03:32:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 03:32:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 03:32:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.004896m	[env.py: 870]
+05/12 03:32:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 03:32:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 03:32:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 03:32:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 92.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:32:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.75575674  0.11418925  0.00489552] yaw=143.7deg	[env.py: 1019]
+05/12 03:32:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 03:32:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -47.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:32:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -57.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:32:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -38.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:32:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.90207693  0.83565214  0.00489552] yaw=-177.2deg	[env.py: 1019]
+05/12 03:32:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 03:32:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 03:32:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=325.4ms, total=325.5ms	[env.py: 1075]
+05/12 03:32:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.756, 0.114, 0.005)	[env.py: 1079]
+05/12 03:32:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 143.7 deg	[env.py: 1082]
+05/12 03:32:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.016m	[env.py: 1086]
+05/12 03:32:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:32:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:32:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:32:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:32:12 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 03:32:12 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/12 03:32:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.107s	[base_object_manipulation_planner_policy.py: 377]
+05/12 03:32:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 03:32:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 03:32:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.084s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 03:32:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 03:32:14 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_004	[save_utils.py: 785]
+05/12 03:32:14 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 15.31s (batch: 4.07s, save: 11.24s)	[pipeline.py: 300]
+05/12 03:32:15 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.565s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 03:32:15 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.559[m] 82.275[deg]	[grasp_sample.py: 539]
+05/12 03:32:15 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 03:32:15 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.57s:
+  episode_total: mean=214.07s, total=214.07s, count=1, min=214074.7ms, max=214074.7ms
+  sensor_polling: mean=456.4ms, total=136.93s, count=300, min=396.1ms, max=832.5ms
+  save_trajectories: mean=11.24s, total=11.24s, count=1, min=11240.4ms, max=11240.4ms
+  physics_step: mean=27.5ms, total=8.24s, count=300, min=18.3ms, max=40.2ms
+  save_batch_prep: mean=4.07s, total=4.07s, count=1, min=4066.0ms, max=4066.0ms
+  task_sampling: mean=573.5ms, total=573.5ms, count=1, min=573.5ms, max=573.5ms
+  task_specific_sample: mean=569.4ms, total=569.4ms, count=1, min=569.4ms, max=569.4ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=456.9us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=38.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 03:32:16 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 03:32:16 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:32:16 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 03:32:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 03:32:17 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 03:32:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 03:32:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:32:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:32:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:32:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:32:17 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 03:32:17 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 03:32:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 03:32:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.047m, effective arm-mount z=0.907m (base_body_z=0.047m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 03:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 03:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 03:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.046750m	[env.py: 870]
+05/12 03:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 03:32:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 03:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 03:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -74.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 103.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 68.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.89371236  0.14154782  0.04675035] yaw=177.7deg	[env.py: 1019]
+05/12 03:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 03:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 96.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.77577342  0.2309411   0.04675035] yaw=174.7deg	[env.py: 1019]
+05/12 03:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 03:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.96835789  1.19951003  0.04675035] yaw=-166.0deg	[env.py: 1019]
+05/12 03:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 03:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 03:32:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=241.3ms, total=241.4ms	[env.py: 1075]
+05/12 03:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.894, 0.142, 0.047)	[env.py: 1079]
+05/12 03:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 177.7 deg	[env.py: 1082]
+05/12 03:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.877m	[env.py: 1086]
+05/12 03:32:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:32:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:32:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:32:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:32:17 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 03:32:17 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/12 03:32:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.108s	[base_object_manipulation_planner_policy.py: 377]
+05/12 03:32:17 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]
+05/12 03:32:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 03:32:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 03:32:19 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.972s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 03:32:19 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.485[m] 87.846[deg]	[grasp_sample.py: 539]
+05/12 03:32:19 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 03:32:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 03:32:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:32:20 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 03:32:24 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:32:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 03:32:33 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/12 03:32:33 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/12 03:32:33 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 03:32:36 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:32:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 03:32:49 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_004	[save_utils.py: 785]
+05/12 03:32:49 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 15.52s (batch: 4.36s, save: 11.16s)	[pipeline.py: 300]
+05/12 03:32:50 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.63s:
+  episode_total: mean=191.95s, total=191.95s, count=1, min=191949.9ms, max=191949.9ms
+  sensor_polling: mean=448.1ms, total=134.44s, count=300, min=392.6ms, max=854.1ms
+  save_trajectories: mean=11.16s, total=11.16s, count=1, min=11156.7ms, max=11156.7ms
+  physics_step: mean=27.8ms, total=8.35s, count=300, min=21.6ms, max=67.8ms
+  save_batch_prep: mean=4.36s, total=4.36s, count=1, min=4363.5ms, max=4363.5ms
+  task_sampling: mean=631.1ms, total=631.1ms, count=1, min=631.1ms, max=631.1ms
+  task_specific_sample: mean=627.2ms, total=627.2ms, count=1, min=627.2ms, max=627.2ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=469.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=22.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 03:32:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 03:32:51 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 03:32:51 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 03:32:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:32:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:32:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:32:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:32:51 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 03:32:51 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 03:32:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 03:32:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.091m, effective arm-mount z=0.951m (base_body_z=0.091m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 03:32:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 03:32:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 03:32:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.090550m	[env.py: 870]
+05/12 03:32:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 03:32:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 03:32:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 03:32:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.95847846  0.8032813   0.09055   ] yaw=-131.9deg	[env.py: 1019]
+05/12 03:32:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 03:32:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 118.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:32:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 90.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:32:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 54.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:32:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -73.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:32:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.7440788  0.8882362  0.09055  ] yaw=-129.1deg	[env.py: 1019]
+05/12 03:32:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 03:32:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 03:32:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=216.6ms, total=216.7ms	[env.py: 1075]
+05/12 03:32:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.958, 0.803, 0.091)	[env.py: 1079]
+05/12 03:32:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -131.9 deg	[env.py: 1082]
+05/12 03:32:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.810m	[env.py: 1086]
+05/12 03:32:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:32:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:32:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:32:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:32:51 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 03:32:51 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/12 03:32:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.104s	[base_object_manipulation_planner_policy.py: 377]
+05/12 03:32:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 03:32:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 03:32:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 03:32:52 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.833s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 03:32:52 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.411[m] 88.312[deg]	[grasp_sample.py: 539]
+05/12 03:32:53 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 03:32:53 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 03:32:53 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:33:07 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:33:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:33:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 03:33:17 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 03:33:20 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:33:21 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:33:32 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:33:42 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 03:33:46 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:34:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:34:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:34:19 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 03:34:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:34:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:34:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:34:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:34:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:34:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:34:30 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 03:34:30 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 03:34:30 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]
+05/12 03:34:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 03:34:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.089s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/12 03:34:31 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.646s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 03:34:31 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.309[deg]	[grasp_sample.py: 539]
+05/12 03:34:32 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 03:34:32 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 03:34:32 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:34:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:34:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:34:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:34:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:34:41 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 03:34:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:34:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:34:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:34:46 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/12 03:34:46 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/12 03:34:46 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 03:34:52 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:35:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 03:35:01 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_004	[save_utils.py: 785]
+05/12 03:35:01 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 14.77s (batch: 3.49s, save: 11.27s)	[pipeline.py: 300]
+05/12 03:35:01 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.50s:
+  episode_total: mean=200.48s, total=200.48s, count=1, min=200484.3ms, max=200484.3ms
+  sensor_polling: mean=431.7ms, total=129.51s, count=300, min=375.9ms, max=847.7ms
+  save_trajectories: mean=11.27s, total=11.27s, count=1, min=11273.1ms, max=11273.1ms
+  physics_step: mean=27.1ms, total=8.14s, count=300, min=17.3ms, max=75.1ms
+  save_batch_prep: mean=3.49s, total=3.49s, count=1, min=3492.5ms, max=3492.5ms
+  task_sampling: mean=503.0ms, total=503.0ms, count=1, min=503.0ms, max=503.0ms
+  task_specific_sample: mean=498.0ms, total=498.0ms, count=1, min=498.0ms, max=498.0ms
+  scene_randomize: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms
+  mj_forward_sync: mean=653.5us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
+  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]
+05/12 03:35:02 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 03:35:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 03:35:03 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 03:35:03 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 03:35:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:35:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:35:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:35:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:35:03 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 03:35:03 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 03:35:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 03:35:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.064m, effective arm-mount z=0.924m (base_body_z=0.064m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 03:35:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 03:35:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 03:35:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.064418m	[env.py: 870]
+05/12 03:35:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 03:35:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 03:35:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 03:35:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 164.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:35:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 95.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:35:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.67607504  0.6116602   0.06441782] yaw=-185.0deg	[env.py: 1019]
+05/12 03:35:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 03:35:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.71360096  0.58566877  0.06441782] yaw=-168.3deg	[env.py: 1019]
+05/12 03:35:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 03:35:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 69.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:35:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.87157392  0.5955851   0.06441782] yaw=-135.8deg	[env.py: 1019]
+05/12 03:35:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 03:35:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 03:35:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=297.2ms, total=297.2ms	[env.py: 1075]
+05/12 03:35:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.676, 0.612, 0.064)	[env.py: 1079]
+05/12 03:35:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -185.0 deg	[env.py: 1082]
+05/12 03:35:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.034m	[env.py: 1086]
+05/12 03:35:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:35:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:35:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:35:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:35:03 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 03:35:03 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/12 03:35:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s	[base_object_manipulation_planner_policy.py: 377]
+05/12 03:35:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 03:35:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 03:35:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.090s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 03:35:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.255s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 03:35:05 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.611[m] 89.556[deg]	[grasp_sample.py: 539]
+05/12 03:35:05 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 03:35:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 03:35:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:35:06 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 03:35:07 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:35:07 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/12 03:35:07 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/12 03:35:07 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 03:35:19 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 03:35:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 03:35:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_004	[save_utils.py: 785]
+05/12 03:35:24 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 16.63s (batch: 4.48s, save: 12.15s)	[pipeline.py: 300]
+05/12 03:35:25 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.65s:
+  episode_total: mean=193.00s, total=193.00s, count=1, min=193001.2ms, max=193001.2ms
+  sensor_polling: mean=446.6ms, total=133.99s, count=300, min=399.0ms, max=761.8ms
+  save_trajectories: mean=12.15s, total=12.15s, count=1, min=12149.2ms, max=12149.2ms
+  physics_step: mean=27.8ms, total=8.33s, count=300, min=21.7ms, max=105.7ms
+  save_batch_prep: mean=4.48s, total=4.48s, count=1, min=4481.4ms, max=4481.4ms
+  task_sampling: mean=648.5ms, total=648.5ms, count=1, min=648.5ms, max=648.5ms
+  task_specific_sample: mean=644.4ms, total=644.4ms, count=1, min=644.4ms, max=644.4ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=473.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=21.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 03:35:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 03:35:26 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 03:35:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 03:35:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:35:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:35:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:35:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:35:26 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 03:35:26 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 03:35:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 03:35:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.001m, effective arm-mount z=0.861m (base_body_z=0.001m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 03:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 03:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 03:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.000781m	[env.py: 870]
+05/12 03:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 03:35:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 03:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 03:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-8.48324274e-01  9.82346479e-01  7.80923565e-04] yaw=-135.5deg	[env.py: 1019]
+05/12 03:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 03:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 54.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 79.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 60.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -75.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.07856328e+00  1.15664237e+00  7.80923565e-04] yaw=-93.4deg	[env.py: 1019]
+05/12 03:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 03:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-9.52797716e-01  5.12707683e-01  7.80923565e-04] yaw=-157.8deg	[env.py: 1019]
+05/12 03:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 03:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 03:35:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=410.7ms, total=410.7ms	[env.py: 1075]
+05/12 03:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.848, 0.982, 0.001)	[env.py: 1079]
+05/12 03:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -135.5 deg	[env.py: 1082]
+05/12 03:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.990m	[env.py: 1086]
+05/12 03:35:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:35:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:35:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:35:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:35:27 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 03:35:27 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/12 03:35:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.116s	[base_object_manipulation_planner_policy.py: 377]
+05/12 03:35:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 03:35:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 03:35:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 03:35:28 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 03:35:31 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.143s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 03:35:31 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.573[m] 79.948[deg]	[grasp_sample.py: 539]
+05/12 03:35:31 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 03:35:32 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 03:35:32 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:35:47 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/12 03:35:47 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/12 03:35:47 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 03:35:56 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/12 03:35:56 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/12 03:35:56 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 03:36:00 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:36:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 03:36:05 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_004	[save_utils.py: 785]
+05/12 03:36:05 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 17.72s (batch: 4.97s, save: 12.74s)	[pipeline.py: 300]
+05/12 03:36:06 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.52s:
+  episode_total: mean=194.88s, total=194.88s, count=1, min=194875.1ms, max=194875.1ms
+  sensor_polling: mean=449.9ms, total=134.97s, count=300, min=393.9ms, max=800.9ms
+  save_trajectories: mean=12.74s, total=12.74s, count=1, min=12744.3ms, max=12744.3ms
+  physics_step: mean=27.4ms, total=8.22s, count=300, min=21.6ms, max=58.9ms
+  save_batch_prep: mean=4.97s, total=4.97s, count=1, min=4970.9ms, max=4970.9ms
+  task_sampling: mean=520.1ms, total=520.1ms, count=1, min=520.1ms, max=520.1ms
+  task_specific_sample: mean=516.1ms, total=516.1ms, count=1, min=516.1ms, max=516.1ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=464.9us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=21.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 03:36:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 03:36:07 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 03:36:07 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 03:36:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:36:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:36:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:36:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:36:07 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 03:36:07 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 03:36:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 03:36:07 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: 256]
+05/12 03:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 03:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 03:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.065615m	[env.py: 870]
+05/12 03:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 03:36:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 03:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 03:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.18758718  1.06666258  0.06561451] yaw=-143.2deg	[env.py: 1019]
+05/12 03:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 03:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.80533039 -0.00131089  0.06561451] yaw=123.8deg	[env.py: 1019]
+05/12 03:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 03:36:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -74.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:36:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -165.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:36:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.62406546  0.64389455  0.06561451] yaw=-133.8deg	[env.py: 1019]
+05/12 03:36:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 03:36:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 03:36:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=238.4ms, total=238.5ms	[env.py: 1075]
+05/12 03:36:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.188, 1.067, 0.066)	[env.py: 1079]
+05/12 03:36:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -143.2 deg	[env.py: 1082]
+05/12 03:36:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.779m	[env.py: 1086]
+05/12 03:36:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:36:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:36:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:36:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:36:08 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 03:36:08 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/12 03:36:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.111s	[base_object_manipulation_planner_policy.py: 377]
+05/12 03:36:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 03:36:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 03:36:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.091s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 03:36:08 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 03:36:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.059s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 03:36:09 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.394[m] 85.910[deg]	[grasp_sample.py: 539]
+05/12 03:36:09 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 03:36:10 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 03:36:10 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:36:12 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 03:36:12 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_004	[save_utils.py: 785]
+05/12 03:36:12 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 15.93s (batch: 4.22s, save: 11.71s)	[pipeline.py: 300]
+05/12 03:36:13 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:36:13 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.57s:
+  episode_total: mean=236.36s, total=236.36s, count=1, min=236358.3ms, max=236358.3ms
+  sensor_polling: mean=472.5ms, total=141.76s, count=300, min=402.4ms, max=805.5ms
+  save_trajectories: mean=11.71s, total=11.71s, count=1, min=11714.4ms, max=11714.4ms
+  physics_step: mean=27.7ms, total=8.32s, count=300, min=14.6ms, max=62.2ms
+  save_batch_prep: mean=4.22s, total=4.22s, count=1, min=4218.3ms, max=4218.3ms
+  task_sampling: mean=573.6ms, total=573.6ms, count=1, min=573.6ms, max=573.6ms
+  task_specific_sample: mean=569.7ms, total=569.7ms, count=1, min=569.7ms, max=569.7ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=454.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=21.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 03:36:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 03:36:15 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 03:36:15 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 03:36:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:36:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:36:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:36:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:36:15 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 03:36:15 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 03:36:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 03:36:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.027m, effective arm-mount z=0.887m (base_body_z=0.027m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 03:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 03:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 03:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.026587m	[env.py: 870]
+05/12 03:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 03:36:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 03:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 03:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -78.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.00652288  1.16222734  0.02658713] yaw=-155.1deg	[env.py: 1019]
+05/12 03:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 03:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.09334615  1.1430596   0.02658713] yaw=-131.3deg	[env.py: 1019]
+05/12 03:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 03:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 76.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.7246074   0.13452204  0.02658713] yaw=123.9deg	[env.py: 1019]
+05/12 03:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 03:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 03:36:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=115.1ms, total=115.2ms	[env.py: 1075]
+05/12 03:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.007, 1.162, 0.027)	[env.py: 1079]
+05/12 03:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -155.1 deg	[env.py: 1082]
+05/12 03:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.973m	[env.py: 1086]
+05/12 03:36:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:36:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:36:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:36:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:36:15 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 03:36:15 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/12 03:36:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.106s	[base_object_manipulation_planner_policy.py: 377]
+05/12 03:36:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 03:36:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 03:36:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 03:36:18 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.783s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 03:36:18 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.579[m] 84.910[deg]	[grasp_sample.py: 539]
+05/12 03:36:18 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 03:36:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 03:36:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:36:26 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:36:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 03:36:38 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:36:47 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:36:57 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 03:37:02 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:37:15 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:37:25 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 03:37:27 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 03:37:29 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:37:53 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/12 03:37:53 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/12 03:37:53 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 03:38:00 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 03:38:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 03:38:09 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_004	[save_utils.py: 785]
+05/12 03:38:09 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 15.99s (batch: 3.66s, save: 12.33s)	[pipeline.py: 300]
+05/12 03:38:10 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.61s:
+  episode_total: mean=187.10s, total=187.10s, count=1, min=187103.2ms, max=187103.2ms
+  sensor_polling: mean=435.0ms, total=130.49s, count=300, min=375.1ms, max=878.2ms
+  save_trajectories: mean=12.33s, total=12.33s, count=1, min=12326.7ms, max=12326.7ms
+  physics_step: mean=27.4ms, total=8.22s, count=300, min=21.4ms, max=41.6ms
+  save_batch_prep: mean=3.66s, total=3.66s, count=1, min=3662.6ms, max=3662.6ms
+  task_sampling: mean=610.6ms, total=610.6ms, count=1, min=610.6ms, max=610.6ms
+  task_specific_sample: mean=606.0ms, total=606.0ms, count=1, min=606.0ms, max=606.0ms
+  scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
+  mj_forward_sync: mean=586.5us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=20.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 03:38:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 03:38:12 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 03:38:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 03:38:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:38:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:38:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:38:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:38:12 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 03:38:12 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: 178]
+05/12 03:38:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 03:38:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.070m, effective arm-mount z=0.930m (base_body_z=0.070m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 03:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 03:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 03:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.069985m	[env.py: 870]
+05/12 03:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 03:38:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 03:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 03:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 173.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.09867266  0.99345821  0.06998477] yaw=-113.6deg	[env.py: 1019]
+05/12 03:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 03:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.66223403  0.6016536   0.06998477] yaw=-165.5deg	[env.py: 1019]
+05/12 03:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 03:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.00321624  1.24904889  0.06998477] yaw=-126.8deg	[env.py: 1019]
+05/12 03:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 03:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 03:38:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=151.4ms, total=151.5ms	[env.py: 1075]
+05/12 03:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.099, 0.993, 0.070)	[env.py: 1079]
+05/12 03:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -113.6 deg	[env.py: 1082]
+05/12 03:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.791m	[env.py: 1086]
+05/12 03:38:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:38:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:38:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:38:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:38:12 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 03:38:12 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/12 03:38:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.109s	[base_object_manipulation_planner_policy.py: 377]
+05/12 03:38:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 03:38:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 03:38:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 03:38:13 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.026s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 03:38:13 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.455[m] 98.997[deg]	[grasp_sample.py: 539]
+05/12 03:38:13 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 03:38:14 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 03:38:14 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:38:14 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 03:38:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:38:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:38:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:38:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:38:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:38:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:38:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:38:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:38:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:38:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:38:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:38:29 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/12 03:38:29 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/12 03:38:29 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 03:38:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:38:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:38:29 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 03:38:29 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 03:38:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 03:38:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 03:38:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/12 03:38:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:38:32 INFO: [Worker 0] Feasibility-checked 78 grasps in 2.550s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 03:38:32 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.113[m] 11.157[deg]	[grasp_sample.py: 539]
+05/12 03:38:32 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 03:38:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 03:38:33 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:38:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:38:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:38:35 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 03:38:35 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 03:38:35 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]
+05/12 03:38:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 03:38:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.084s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/12 03:38:38 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.571s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 03:38:38 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.109[m] 0.796[deg]	[grasp_sample.py: 539]
+05/12 03:38:38 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 03:38:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 03:38:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:38:44 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:38:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 03:38:45 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_004	[save_utils.py: 785]
+05/12 03:38:45 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 16.88s (batch: 4.37s, save: 12.51s)	[pipeline.py: 300]
+05/12 03:38:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:38:46 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.77s:
+  episode_total: mean=200.40s, total=200.40s, count=1, min=200400.4ms, max=200400.4ms
+  sensor_polling: mean=457.5ms, total=137.25s, count=300, min=390.8ms, max=789.5ms
+  save_trajectories: mean=12.51s, total=12.51s, count=1, min=12510.8ms, max=12510.8ms
+  physics_step: mean=28.1ms, total=8.42s, count=300, min=21.5ms, max=39.2ms
+  save_batch_prep: mean=4.37s, total=4.37s, count=1, min=4369.3ms, max=4369.3ms
+  task_sampling: mean=771.1ms, total=771.1ms, count=1, min=771.1ms, max=771.1ms
+  task_specific_sample: mean=766.3ms, total=766.3ms, count=1, min=766.3ms, max=766.3ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=478.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=29.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 03:38:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:38:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 03:38:48 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 03:38:48 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 03:38:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:38:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:38:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:38:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:38:48 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 03:38:48 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 03:38:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 03:38:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.050m, effective arm-mount z=0.910m (base_body_z=0.050m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 03:38:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 03:38:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 03:38:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.049765m	[env.py: 870]
+05/12 03:38:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 03:38:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 03:38:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 03:38:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -50.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:38:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -39.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:38:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 99.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:38:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.82241543  0.7172826   0.04976519] yaw=-201.0deg	[env.py: 1019]
+05/12 03:38:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 03:38:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -31.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:38:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 03:38:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=388.3ms, total=388.4ms	[env.py: 1075]
+05/12 03:38:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.822, 0.717, 0.050)	[env.py: 1079]
+05/12 03:38:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -201.0 deg	[env.py: 1082]
+05/12 03:38:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.911m	[env.py: 1086]
+05/12 03:38:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:38:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:38:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:38:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:38:48 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:38:49 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 03:38:49 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/12 03:38:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.115s	[base_object_manipulation_planner_policy.py: 377]
+05/12 03:38:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 03:38:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 03:38:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 03:38:50 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.949s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 03:38:50 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.578[m] 89.859[deg]	[grasp_sample.py: 539]
+05/12 03:38:50 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 03:38:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:38:50 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 03:38:50 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:38:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:38:53 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:38:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:38:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:38:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:38:58 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 03:38:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:38:59 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 03:38:59 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 03:38:59 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]
+05/12 03:38:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 03:39:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.084s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 03:39:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 03:39:01 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.980s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 03:39:01 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.370[m] 17.315[deg]	[grasp_sample.py: 539]
+05/12 03:39:02 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 03:39:02 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 03:39:02 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:39:02 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 03:39:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:39:05 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:39:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:39:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:39:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:39:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:39:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:39:14 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 03:39:14 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]
+05/12 03:39:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 03:39:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 03:39:25 INFO: [Worker 0] Feasibility-checked 88 grasps in 11.426s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 03:39:25 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.397[m] 25.676[deg]	[grasp_sample.py: 539]
+05/12 03:39:25 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 03:39:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 03:39:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:39:26 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/12 03:39:27 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/12 03:39:27 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=False episode_total=0.57s:
+  episode_total: mean=199.48s, total=199.48s, count=1, min=199478.0ms, max=199478.0ms
+  sensor_polling: mean=466.5ms, total=139.48s, count=299, min=400.2ms, max=845.2ms
+  physics_step: mean=28.5ms, total=8.53s, count=299, min=18.4ms, max=37.3ms
+  task_sampling: mean=565.3ms, total=565.3ms, count=1, min=565.3ms, max=565.3ms
+  task_specific_sample: mean=560.4ms, total=560.4ms, count=1, min=560.4ms, max=560.4ms
+  scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
+  mj_forward_sync: mean=620.0us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=21.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 03:39:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 03:39:29 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 03:39:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 03:39:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:39:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:39:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:39:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:39:29 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 03:39:29 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 03:39:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 03:39:29 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: 256]
+05/12 03:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 03:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 03:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.059863m	[env.py: 870]
+05/12 03:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 03:39:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 03:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 03:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 161.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.09146752  0.97657213  0.059863  ] yaw=-169.1deg	[env.py: 1019]
+05/12 03:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 03:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -33.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -31.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 102.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.81859353  0.50552344  0.059863  ] yaw=-181.1deg	[env.py: 1019]
+05/12 03:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 03:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.98421995  0.91542293  0.059863  ] yaw=-120.7deg	[env.py: 1019]
+05/12 03:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 03:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 03:39:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=216.0ms, total=216.1ms	[env.py: 1075]
+05/12 03:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.091, 0.977, 0.060)	[env.py: 1079]
+05/12 03:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -169.1 deg	[env.py: 1082]
+05/12 03:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.786m	[env.py: 1086]
+05/12 03:39:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:39:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:39:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:39:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:39:29 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 03:39:29 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/12 03:39:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.096s	[base_object_manipulation_planner_policy.py: 377]
+05/12 03:39:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 03:39:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 03:39:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 03:39:30 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.733s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 03:39:30 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.453[m] 96.379[deg]	[grasp_sample.py: 539]
+05/12 03:39:30 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 03:39:30 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/12 03:39:30 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/12 03:39:30 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 03:39:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 03:39:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:39:31 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 03:39:43 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
diff --git a/fridge_m_0.7_pd/chunk_004/trajectories_batch_1_of_4_cam_rand.h5 b/fridge_m_0.7_pd/chunk_004/trajectories_batch_1_of_4_cam_rand.h5
new file mode 100644
index 0000000000000000000000000000000000000000..c4912ceea883e0e7ac95318e9649498eff48fc1f
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_004/trajectories_batch_1_of_4_cam_rand.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f6f7b68ab8de20562ebfe9ed7044d4c0dc422430180b769b7112cabf3f2e699d
+size 390832664
diff --git a/fridge_m_0.7_pd/chunk_004/trajectories_batch_2_of_4_cam_rand.h5 b/fridge_m_0.7_pd/chunk_004/trajectories_batch_2_of_4_cam_rand.h5
new file mode 100644
index 0000000000000000000000000000000000000000..f64223ed9d7260c079d7769f2a20791cbf1b3331
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_004/trajectories_batch_2_of_4_cam_rand.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d91fac3d74836d5331e25c7e6684f37dd839966b10c5eee72a1a2ef30a64ec9b
+size 311384943
diff --git a/fridge_m_0.7_pd/chunk_004/trajectories_batch_3_of_4_cam_rand.h5 b/fridge_m_0.7_pd/chunk_004/trajectories_batch_3_of_4_cam_rand.h5
new file mode 100644
index 0000000000000000000000000000000000000000..3a45d8192ca0844d026e4fb75245cdbc6fdf1cf4
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_004/trajectories_batch_3_of_4_cam_rand.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8df6a444e6b0be2224325bf8d9c7b5a43c0b4d029b6da81d1732a80b234dc19c
+size 316378921
diff --git a/fridge_m_0.7_pd/chunk_004/trajectories_batch_4_of_4_cam_rand.h5 b/fridge_m_0.7_pd/chunk_004/trajectories_batch_4_of_4_cam_rand.h5
new file mode 100644
index 0000000000000000000000000000000000000000..c704184e9cdca21d062425fdf43071898e43be40
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_004/trajectories_batch_4_of_4_cam_rand.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:12f9d068b1ee5d70e265b3b955f6c88ef23fe8bc78c33e919d9a0b59ad30825f
+size 310887237