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 05/10 23:05:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
 05/10 23:05:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
 05/10 23:05:40 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 23:05:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:05:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:05:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:05:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:05:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
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+05/10 23:05:52 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 23:05:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 23:05:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 23:05:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 82 non-colliding grasps	[grasp_sample.py: 465]
+05/10 23:05:53 INFO: [Worker 0] Feasibility-checked 82 grasps in 1.481s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 23:05:53 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.112[m] 0.211[deg]	[grasp_sample.py: 539]
+05/10 23:05:54 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 23:05:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 23:05:56 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 23:05:56 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 23:05:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:05:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:05:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:05:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:05:56 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 23:05:56 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 23:05:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 23:05:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.020m, effective arm-mount z=0.880m (base_body_z=0.020m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 23:05:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 23:05:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 23:05:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.019915m	[env.py: 870]
+05/10 23:05:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 23:05:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 23:05:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 23:05:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -39.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:05:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -54.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:05:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.99644143  1.19127703  0.01991548] yaw=-135.0deg	[env.py: 1019]
+05/10 23:05:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 23:05:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -56.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:05:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.75406384  0.6496604   0.01991548] yaw=-163.7deg	[env.py: 1019]
+05/10 23:05:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 23:05:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.0122268   0.89200526  0.01991548] yaw=-150.4deg	[env.py: 1019]
+05/10 23:05:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 23:05:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 23:05:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=131.5ms, total=131.5ms	[env.py: 1075]
+05/10 23:05:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.996, 1.191, 0.020)	[env.py: 1079]
+05/10 23:05:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -135.0 deg	[env.py: 1082]
+05/10 23:05:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.001m	[env.py: 1086]
+05/10 23:05:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:05:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:05:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:05:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:05:56 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 23:05:56 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/10 23:05:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s	[base_object_manipulation_planner_policy.py: 377]
+05/10 23:05:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 23:05:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 23:05:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.042s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 23:05:57 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_010	[pipeline.py: 1174]
+05/10 23:05:57 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 23:05:57 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 23:05:58 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.515s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 23:05:58 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.550[m] 83.156[deg]	[grasp_sample.py: 539]
+05/10 23:05:59 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 23:06:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 23:06:01 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 23:06:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 23:06:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:06:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:06:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:06:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:06:01 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 23:06:01 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]
+05/10 23:06:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 23:06:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.061m, effective arm-mount z=0.921m (base_body_z=0.061m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 23:06:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 23:06:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 23:06:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.060513m	[env.py: 870]
+05/10 23:06:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 23:06:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 23:06:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 23:06:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 73.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:06:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 88.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:06:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -57.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:06:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 62.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:06:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.92512675  0.87453013  0.06051314] yaw=-149.7deg	[env.py: 1019]
+05/10 23:06:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 23:06:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.836714    0.21346093  0.06051314] yaw=174.1deg	[env.py: 1019]
+05/10 23:06:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 23:06:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.76436377  0.22133847  0.06051314] yaw=155.0deg	[env.py: 1019]
+05/10 23:06:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 23:06:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 23:06:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=187.9ms, total=187.9ms	[env.py: 1075]
+05/10 23:06:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.925, 0.875, 0.061)	[env.py: 1079]
+05/10 23:06:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -149.7 deg	[env.py: 1082]
+05/10 23:06:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.871m	[env.py: 1086]
+05/10 23:06:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:06:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:06:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:06:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:06:01 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 23:06:01 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/10 23:06:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s	[base_object_manipulation_planner_policy.py: 377]
+05/10 23:06:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 23:06:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 23:06:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 23:06:02 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.516s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 23:06:02 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.450[m] 88.944[deg]	[grasp_sample.py: 539]
+05/10 23:06:02 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 23:06:02 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:06:02 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 23:06:02 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:06:04 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_010	[pipeline.py: 1174]
+05/10 23:06:04 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 23:06:04 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 23:06:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 23:06:09 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010	[save_utils.py: 785]
+05/10 23:06:09 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 12.08s (batch: 4.08s, save: 8.00s)	[pipeline.py: 300]
+05/10 23:06:10 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.47s:
+  episode_total: mean=214.57s, total=214.57s, count=1, min=214571.8ms, max=214571.8ms
+  sensor_polling: mean=460.8ms, total=138.24s, count=300, min=395.0ms, max=664.9ms
+  save_trajectories: mean=8.00s, total=8.00s, count=1, min=8005.0ms, max=8005.0ms
+  physics_step: mean=22.5ms, total=6.76s, count=300, min=12.4ms, max=133.3ms
+  save_batch_prep: mean=4.08s, total=4.08s, count=1, min=4075.4ms, max=4075.4ms
+  task_sampling: mean=471.8ms, total=471.8ms, count=1, min=471.8ms, max=471.8ms
+  task_specific_sample: mean=467.4ms, total=467.4ms, count=1, min=467.4ms, max=467.4ms
+  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
+  mj_forward_sync: mean=509.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=27.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 23:06:11 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 23:06:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 23:06:11 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 23:06:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 23:06:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:06:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:06:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:06:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:06:11 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 23:06:11 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]
+05/10 23:06:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 23:06:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.020m, effective arm-mount z=0.880m (base_body_z=0.020m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 23:06:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 23:06:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 23:06:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.019549m	[env.py: 870]
+05/10 23:06:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 23:06:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 23:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 23:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.83056005  0.18051842  0.01954868] yaw=168.1deg	[env.py: 1019]
+05/10 23:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 23:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 111.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -36.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.02640509  1.21315674  0.01954868] yaw=-133.3deg	[env.py: 1019]
+05/10 23:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 23:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 64.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.72818197  0.297824    0.01954868] yaw=177.2deg	[env.py: 1019]
+05/10 23:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 23:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 23:06:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=467.7ms, total=467.7ms	[env.py: 1075]
+05/10 23:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.831, 0.181, 0.020)	[env.py: 1079]
+05/10 23:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 168.1 deg	[env.py: 1082]
+05/10 23:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.922m	[env.py: 1086]
+05/10 23:06:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:06:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:06:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:06:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:06:12 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 23:06:12 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/10 23:06:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.121s	[base_object_manipulation_planner_policy.py: 377]
+05/10 23:06:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 23:06:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 23:06:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 23:06:14 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.104s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 23:06:14 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.494[m] 95.249[deg]	[grasp_sample.py: 539]
+05/10 23:06:14 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 23:06:14 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 23:06:14 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:06:16 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:06:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 23:06:17 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010	[save_utils.py: 785]
+05/10 23:06:17 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 13.62s (batch: 3.87s, save: 9.75s)	[pipeline.py: 300]
+05/10 23:06:18 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.43s:
+  episode_total: mean=188.63s, total=188.63s, count=1, min=188631.2ms, max=188631.2ms
+  sensor_polling: mean=459.2ms, total=137.77s, count=300, min=397.2ms, max=752.9ms
+  save_trajectories: mean=9.75s, total=9.75s, count=1, min=9750.0ms, max=9750.0ms
+  physics_step: mean=21.8ms, total=6.54s, count=300, min=17.0ms, max=88.8ms
+  save_batch_prep: mean=3.87s, total=3.87s, count=1, min=3868.7ms, max=3868.7ms
+  task_sampling: mean=426.3ms, total=426.3ms, count=1, min=426.3ms, max=426.3ms
+  task_specific_sample: mean=422.5ms, total=422.5ms, count=1, min=422.5ms, max=422.5ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=432.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=18.4us, 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]
+05/10 23:06:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 23:06:19 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 23:06:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 23:06:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:06:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:06:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:06:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:06:19 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 23:06:19 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]
+05/10 23:06:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 23:06:19 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]
+05/10 23:06:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 23:06:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 23:06:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.006897m	[env.py: 870]
+05/10 23:06:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 23:06:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 23:06:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 23:06:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.92177406  0.76590406  0.00689695] yaw=-149.5deg	[env.py: 1019]
+05/10 23:06:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 23:06:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -67.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:06:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 51.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:06:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.71163099  0.32276216  0.00689695] yaw=179.5deg	[env.py: 1019]
+05/10 23:06:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 23:06:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 69.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.70008078  0.8567145   0.00689695] yaw=-170.3deg	[env.py: 1019]
+05/10 23:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 23:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 23:06:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=146.8ms, total=146.8ms	[env.py: 1075]
+05/10 23:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.922, 0.766, 0.007)	[env.py: 1079]
+05/10 23:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -149.5 deg	[env.py: 1082]
+05/10 23:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.831m	[env.py: 1086]
+05/10 23:06:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:06:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:06:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:06:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:06:20 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 23:06:20 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/10 23:06:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
+05/10 23:06:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 23:06:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 23:06:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 23:06:20 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.471s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 23:06:20 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.400[m] 92.386[deg]	[grasp_sample.py: 539]
+05/10 23:06:20 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 23:06:21 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 23:06:21 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:06:42 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:06:51 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 23:06:55 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:06:56 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:07:00 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:07:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 23:07:08 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:07:08 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 23:07:14 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:07:35 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 23:08:01 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_010	[pipeline.py: 1174]
+05/10 23:08:01 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 23:08:01 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 23:08:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 23:08:14 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010	[save_utils.py: 785]
+05/10 23:08:14 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 13.19s (batch: 4.02s, save: 9.17s)	[pipeline.py: 300]
+05/10 23:08:15 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.86s:
+  episode_total: mean=191.45s, total=191.45s, count=1, min=191448.9ms, max=191448.9ms
+  sensor_polling: mean=465.8ms, total=139.73s, count=300, min=389.7ms, max=906.0ms
+  save_trajectories: mean=9.17s, total=9.17s, count=1, min=9172.0ms, max=9172.0ms
+  physics_step: mean=21.1ms, total=6.34s, count=300, min=16.9ms, max=47.2ms
+  save_batch_prep: mean=4.02s, total=4.02s, count=1, min=4018.1ms, max=4018.1ms
+  task_sampling: mean=861.0ms, total=861.0ms, count=1, min=861.0ms, max=861.0ms
+  task_specific_sample: mean=856.7ms, total=856.7ms, count=1, min=856.7ms, max=856.7ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=529.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=18.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 23:08:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 23:08:17 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 23:08:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 23:08:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:08:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:08:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:08:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:08:17 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 23:08:17 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]
+05/10 23:08:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 23:08:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.100m, effective arm-mount z=0.960m (base_body_z=0.100m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 23:08:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 23:08:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 23:08:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.099842m	[env.py: 870]
+05/10 23:08:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 23:08:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 23:08:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 23:08:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.81496537  0.71384348  0.09984246] yaw=-172.7deg	[env.py: 1019]
+05/10 23:08:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 23:08:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.8914515   0.87005433  0.09984246] yaw=-146.4deg	[env.py: 1019]
+05/10 23:08:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 23:08:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.03283366  1.31754054  0.09984246] yaw=-120.0deg	[env.py: 1019]
+05/10 23:08:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 23:08:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 23:08:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=246.9ms, total=246.9ms	[env.py: 1075]
+05/10 23:08:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.815, 0.714, 0.100)	[env.py: 1079]
+05/10 23:08:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -172.7 deg	[env.py: 1082]
+05/10 23:08:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.917m	[env.py: 1086]
+05/10 23:08:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:08:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:08:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:08:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:08:18 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 23:08:18 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/10 23:08:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.132s	[base_object_manipulation_planner_policy.py: 377]
+05/10 23:08:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 23:08:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 23:08:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 23:08:19 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.112s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 23:08:19 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.455[m] 80.364[deg]	[grasp_sample.py: 539]
+05/10 23:08:19 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 23:08:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 23:08:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:08:28 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 23:08:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:08:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:08:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:08:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:08:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:08:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:08:43 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 23:08:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:08:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:08:45 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 23:08:45 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 23:08:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 23:08:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 23:08:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.065s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 23:08:46 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.422s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 23:08:46 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.804[deg]	[grasp_sample.py: 539]
+05/10 23:08:46 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 23:08:46 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 23:08:46 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:08:50 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_010	[pipeline.py: 1174]
+05/10 23:08:50 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 23:08:50 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 23:08:53 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:09:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:09:02 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 23:09:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 23:09:04 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010	[save_utils.py: 785]
+05/10 23:09:04 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 13.71s (batch: 4.83s, save: 8.87s)	[pipeline.py: 300]
+05/10 23:09:04 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=1.14s:
+  episode_total: mean=88.13s, total=352.51s, count=4, min=199.9ms, max=183659.1ms
+  sensor_polling: mean=457.2ms, total=260.63s, count=570, min=390.9ms, max=932.9ms
+  physics_step: mean=21.1ms, total=12.02s, count=570, min=13.7ms, max=52.4ms
+  save_trajectories: mean=8.87s, total=8.87s, count=1, min=8873.8ms, max=8873.8ms
+  save_batch_prep: mean=4.83s, total=4.83s, count=1, min=4834.6ms, max=4834.6ms
+  task_specific_sample: mean=332.2ms, total=1.33s, count=4, min=192.6ms, max=427.2ms
+  task_sampling: mean=381.6ms, total=1.14s, count=3, min=346.8ms, max=430.9ms
+  task_sampling_failed: mean=199.9ms, total=199.9ms, count=1, min=199.9ms, max=199.9ms
+  scene_randomize: mean=1.7ms, total=7.0ms, count=4, min=1.1ms, max=3.4ms
+  mj_forward_sync: mean=431.2us, total=1.7ms, count=4, min=0.4ms, max=0.6ms
+  policy_setup: mean=15.4us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 23:09:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 23:09:06 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 23:09:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 23:09:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:09:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:09:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:09:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:09:06 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 23:09:06 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 23:09:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 23:09:06 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]
+05/10 23:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 23:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 23:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.009666m	[env.py: 870]
+05/10 23:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 23:09:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 23:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 23:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.76303089  0.33473873  0.00966643] yaw=163.1deg	[env.py: 1019]
+05/10 23:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 23:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.97934995  1.14923109  0.00966643] yaw=-132.5deg	[env.py: 1019]
+05/10 23:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 23:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 91.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -30.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -66.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.70376472  0.50597531  0.00966643] yaw=-172.4deg	[env.py: 1019]
+05/10 23:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 23:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 23:09:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=169.0ms, total=169.0ms	[env.py: 1075]
+05/10 23:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.763, 0.335, 0.010)	[env.py: 1079]
+05/10 23:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 163.1 deg	[env.py: 1082]
+05/10 23:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.951m	[env.py: 1086]
+05/10 23:09:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:09:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:09:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:09:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:09:06 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 23:09:06 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/10 23:09:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
+05/10 23:09:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 23:09:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 23:09:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 23:09:07 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.448s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 23:09:07 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.497[m] 86.199[deg]	[grasp_sample.py: 539]
+05/10 23:09:07 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 23:09:07 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_010	[pipeline.py: 1174]
+05/10 23:09:07 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 23:09:07 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 23:09:07 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 23:09:07 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:09:10 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 23:09:14 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:09:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 23:09:19 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010	[save_utils.py: 785]
+05/10 23:09:19 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 12.57s (batch: 4.01s, save: 8.57s)	[pipeline.py: 300]
+05/10 23:09:20 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.40s:
+  episode_total: mean=180.78s, total=180.78s, count=1, min=180782.7ms, max=180782.7ms
+  sensor_polling: mean=445.5ms, total=133.64s, count=300, min=388.6ms, max=842.7ms
+  save_trajectories: mean=8.57s, total=8.57s, count=1, min=8565.2ms, max=8565.2ms
+  physics_step: mean=21.4ms, total=6.42s, count=300, min=13.9ms, max=105.0ms
+  save_batch_prep: mean=4.01s, total=4.01s, count=1, min=4009.1ms, max=4009.1ms
+  task_sampling: mean=399.7ms, total=399.7ms, count=1, min=399.7ms, max=399.7ms
+  task_specific_sample: mean=396.2ms, total=396.2ms, count=1, min=396.2ms, max=396.2ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=402.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  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]
+05/10 23:09:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 23:09:22 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 23:09:22 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 23:09:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:09:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:09:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:09:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:09:22 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 23:09:22 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]
+05/10 23:09:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 23:09:22 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]
+05/10 23:09:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 23:09:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 23:09:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.050043m	[env.py: 870]
+05/10 23:09:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 23:09:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 23:09:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 23:09:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 68.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:09:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.01988596  1.22744096  0.05004333] yaw=-130.7deg	[env.py: 1019]
+05/10 23:09:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 23:09:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 118.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:09:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.96005084  0.86684374  0.05004333] yaw=-151.1deg	[env.py: 1019]
+05/10 23:09:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 23:09:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.6678634   0.15019616  0.05004333] yaw=171.7deg	[env.py: 1019]
+05/10 23:09:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 23:09:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 23:09:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=143.5ms, total=143.5ms	[env.py: 1075]
+05/10 23:09:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.020, 1.227, 0.050)	[env.py: 1079]
+05/10 23:09:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -130.7 deg	[env.py: 1082]
+05/10 23:09:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.011m	[env.py: 1086]
+05/10 23:09:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:09:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:09:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:09:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:09:22 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 23:09:22 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/10 23:09:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.128s	[base_object_manipulation_planner_policy.py: 377]
+05/10 23:09:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 23:09:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 23:09:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.053s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 23:09:23 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_010	[pipeline.py: 1174]
+05/10 23:09:23 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 23:09:23 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 23:09:26 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.931s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 23:09:26 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.597[m] 92.849[deg]	[grasp_sample.py: 539]
+05/10 23:09:27 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 23:09:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 23:09:28 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 23:09:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 23:09:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:09:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:09:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:09:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:09:28 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 23:09:28 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]
+05/10 23:09:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 23:09:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.069m, effective arm-mount z=0.929m (base_body_z=0.069m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 23:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 23:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 23:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.068614m	[env.py: 870]
+05/10 23:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 23:09:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 23:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 23:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 117.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.9294979   0.1920714   0.06861409] yaw=151.6deg	[env.py: 1019]
+05/10 23:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 23:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.88711045  0.13451789  0.06861409] yaw=152.2deg	[env.py: 1019]
+05/10 23:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 23:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -29.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.76500749  0.4411196   0.06861409] yaw=177.3deg	[env.py: 1019]
+05/10 23:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 23:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 23:09:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=85.9ms, total=85.9ms	[env.py: 1075]
+05/10 23:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.929, 0.192, 0.069)	[env.py: 1079]
+05/10 23:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 151.6 deg	[env.py: 1082]
+05/10 23:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.825m	[env.py: 1086]
+05/10 23:09:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:09:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:09:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:09:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:09:28 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 23:09:28 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/10 23:09:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s	[base_object_manipulation_planner_policy.py: 377]
+05/10 23:09:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 23:09:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 23:09:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 23:09:29 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.530s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 23:09:29 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.368[m] 84.336[deg]	[grasp_sample.py: 539]
+05/10 23:09:29 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 23:09:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 23:09:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:09:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 23:09:36 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010	[save_utils.py: 785]
+05/10 23:09:36 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 12.33s (batch: 4.44s, save: 7.89s)	[pipeline.py: 300]
+05/10 23:09:36 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.74s:
+  episode_total: mean=204.76s, total=204.76s, count=1, min=204760.9ms, max=204760.9ms
+  sensor_polling: mean=461.5ms, total=138.46s, count=300, min=383.9ms, max=848.8ms
+  save_trajectories: mean=7.89s, total=7.89s, count=1, min=7893.2ms, max=7893.2ms
+  physics_step: mean=22.0ms, total=6.60s, count=300, min=15.6ms, max=58.5ms
+  save_batch_prep: mean=4.44s, total=4.44s, count=1, min=4437.4ms, max=4437.4ms
+  task_sampling: mean=736.4ms, total=736.4ms, count=1, min=736.4ms, max=736.4ms
+  task_specific_sample: mean=732.6ms, total=732.6ms, count=1, min=732.6ms, max=732.6ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=478.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  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]
+05/10 23:09:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 23:09:38 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 23:09:38 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 23:09:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:09:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:09:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:09:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:09:38 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 23:09:38 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]
+05/10 23:09:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 23:09:38 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]
+05/10 23:09:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 23:09:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 23:09:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.025875m	[env.py: 870]
+05/10 23:09:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 23:09:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 23:09:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 23:09:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -66.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:09:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 71.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:09:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.71695438  0.95145651  0.0258746 ] yaw=-157.4deg	[env.py: 1019]
+05/10 23:09:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 23:09:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.90460923  0.14255251  0.0258746 ] yaw=162.3deg	[env.py: 1019]
+05/10 23:09:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 23:09:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 176.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:09:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.10843734  1.17592281  0.0258746 ] yaw=-125.2deg	[env.py: 1019]
+05/10 23:09:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 23:09:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 23:09:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=112.4ms, total=112.4ms	[env.py: 1075]
+05/10 23:09:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.717, 0.951, 0.026)	[env.py: 1079]
+05/10 23:09:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -157.4 deg	[env.py: 1082]
+05/10 23:09:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.092m	[env.py: 1086]
+05/10 23:09:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:09:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:09:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:09:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:09:38 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 23:09:38 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/10 23:09:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
+05/10 23:09:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 23:09:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 23:09:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 23:09:40 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.473s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 23:09:40 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.626[m] 77.826[deg]	[grasp_sample.py: 539]
+05/10 23:09:41 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 23:09:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 23:09:42 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 23:09:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 23:09:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:09:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:09:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:09:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:09:42 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 23:09:42 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]
+05/10 23:09:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 23:09:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.081m, effective arm-mount z=0.941m (base_body_z=0.081m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 23:09:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 23:09:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 23:09:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.080914m	[env.py: 870]
+05/10 23:09:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 23:09:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 23:09:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 23:09:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.18629076  1.11918595  0.08091379] yaw=-126.8deg	[env.py: 1019]
+05/10 23:09:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 23:09:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 165.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:09:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 87.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:09:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.78691895  0.88938164  0.08091379] yaw=-155.0deg	[env.py: 1019]
+05/10 23:09:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 23:09:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 88.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:09:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.85983502  1.00820193  0.08091379] yaw=-147.5deg	[env.py: 1019]
+05/10 23:09:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 23:09:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 23:09:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=138.4ms, total=138.4ms	[env.py: 1075]
+05/10 23:09:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.186, 1.119, 0.081)	[env.py: 1079]
+05/10 23:09:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -126.8 deg	[env.py: 1082]
+05/10 23:09:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.820m	[env.py: 1086]
+05/10 23:09:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:09:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:09:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:09:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:09:43 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 23:09:43 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/10 23:09:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s	[base_object_manipulation_planner_policy.py: 377]
+05/10 23:09:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 23:09:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 23:09:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 23:09:43 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.589s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 23:09:43 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.431[m] 94.043[deg]	[grasp_sample.py: 539]
+05/10 23:09:43 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 23:09:44 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 23:09:44 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:09:53 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:10:02 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 23:10:02 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:10:06 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:10:11 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 23:10:15 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:10:22 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:10:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 23:10:36 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:10:42 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 23:10:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:11:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:11:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:11:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:11:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:11:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:11:08 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_010	[pipeline.py: 1174]
+05/10 23:11:08 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 23:11:08 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 23:11:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:11:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:11:10 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 23:11:10 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 23:11:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 23:11:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 23:11:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.042s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/10 23:11:11 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.394s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 23:11:11 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.173[deg]	[grasp_sample.py: 539]
+05/10 23:11:12 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 23:11:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 23:11:13 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 23:11:13 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 23:11:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:11:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:11:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:11:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:11:13 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 23:11:13 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 23:11:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 23:11:13 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]
+05/10 23:11:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 23:11:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 23:11:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.016157m	[env.py: 870]
+05/10 23:11:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 23:11:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 23:11:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 23:11:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.92559042  0.35279308  0.01615693] yaw=171.4deg	[env.py: 1019]
+05/10 23:11:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 23:11:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.76913931  0.1905269   0.01615693] yaw=153.5deg	[env.py: 1019]
+05/10 23:11:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 23:11:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 83.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:11:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.80133331  0.01050044  0.01615693] yaw=146.7deg	[env.py: 1019]
+05/10 23:11:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 23:11:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 23:11:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=76.8ms, total=76.8ms	[env.py: 1075]
+05/10 23:11:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.926, 0.353, 0.016)	[env.py: 1079]
+05/10 23:11:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 171.4 deg	[env.py: 1082]
+05/10 23:11:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.787m	[env.py: 1086]
+05/10 23:11:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:11:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:11:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:11:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:11:14 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 23:11:14 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/10 23:11:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.051s	[base_object_manipulation_planner_policy.py: 377]
+05/10 23:11:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 23:11:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 23:11:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 23:11:14 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.452s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 23:11:14 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.362[m] 91.825[deg]	[grasp_sample.py: 539]
+05/10 23:11:14 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 23:11:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 23:11:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:11:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 23:11:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010	[save_utils.py: 785]
+05/10 23:11:20 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 12.31s (batch: 3.99s, save: 8.32s)	[pipeline.py: 300]
+05/10 23:11:21 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.58s:
+  episode_total: mean=183.75s, total=183.75s, count=1, min=183745.0ms, max=183745.0ms
+  sensor_polling: mean=445.5ms, total=133.65s, count=300, min=383.4ms, max=802.9ms
+  save_trajectories: mean=8.32s, total=8.32s, count=1, min=8316.6ms, max=8316.6ms
+  physics_step: mean=20.5ms, total=6.15s, count=300, min=16.4ms, max=63.8ms
+  save_batch_prep: mean=3.99s, total=3.99s, count=1, min=3990.7ms, max=3990.7ms
+  task_sampling: mean=583.2ms, total=583.2ms, count=1, min=583.2ms, max=583.2ms
+  task_specific_sample: mean=579.3ms, total=579.3ms, count=1, min=579.3ms, max=579.3ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=454.2us, 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]
+05/10 23:11:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 23:11:22 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 23:11:22 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 23:11:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:11:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:11:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:11:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:11:22 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 23:11:22 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]
+05/10 23:11:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 23:11:22 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]
+05/10 23:11:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 23:11:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 23:11:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034532m	[env.py: 870]
+05/10 23:11:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 23:11:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 23:11:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 23:11:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -80.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:11:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.90041088  0.87476668  0.03453159] yaw=-147.9deg	[env.py: 1019]
+05/10 23:11:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 23:11:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -56.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:11:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -160.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:11:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -79.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:11:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.9944639   0.91848741  0.03453159] yaw=-143.3deg	[env.py: 1019]
+05/10 23:11:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 23:11:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.87122593  0.50159659  0.03453159] yaw=-183.1deg	[env.py: 1019]
+05/10 23:11:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 23:11:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 23:11:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=183.1ms, total=183.1ms	[env.py: 1075]
+05/10 23:11:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.900, 0.875, 0.035)	[env.py: 1079]
+05/10 23:11:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -147.9 deg	[env.py: 1082]
+05/10 23:11:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.893m	[env.py: 1086]
+05/10 23:11:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:11:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:11:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:11:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:11:23 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 23:11:23 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/10 23:11:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s	[base_object_manipulation_planner_policy.py: 377]
+05/10 23:11:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 23:11:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 23:11:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 23:11:23 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.514s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 23:11:23 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.458[m] 83.721[deg]	[grasp_sample.py: 539]
+05/10 23:11:23 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 23:11:24 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 23:11:24 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:11:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:11:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:11:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:11:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:11:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:11:49 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:11:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:11:49 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 23:11:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:11:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:11:52 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 23:11:52 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 23:11:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 23:11:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 23:11:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 23:11:54 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.498s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 23:11:54 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.260[deg]	[grasp_sample.py: 539]
+05/10 23:11:55 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 23:11:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 23:11:56 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 23:11:56 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 23:11:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:11:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:11:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:11:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:11:56 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 23:11:56 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 23:11:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 23:11:56 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]
+05/10 23:11:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 23:11:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 23:11:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.061715m	[env.py: 870]
+05/10 23:11:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 23:11:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 23:11:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 23:11:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.02537089  1.14829214  0.06171526] yaw=-130.9deg	[env.py: 1019]
+05/10 23:11:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 23:11:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 166.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:11:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 85.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:11:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.65433755  0.46459842  0.06171526] yaw=178.6deg	[env.py: 1019]
+05/10 23:11:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 23:11:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 157.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:11:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.90105291  0.60888993  0.06171526] yaw=-179.6deg	[env.py: 1019]
+05/10 23:11:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 23:11:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 23:11:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=201.6ms, total=201.6ms	[env.py: 1075]
+05/10 23:11:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.025, 1.148, 0.062)	[env.py: 1079]
+05/10 23:11:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -130.9 deg	[env.py: 1082]
+05/10 23:11:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.950m	[env.py: 1086]
+05/10 23:11:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:11:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:11:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:11:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:11:57 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 23:11:57 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/10 23:11:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s	[base_object_manipulation_planner_policy.py: 377]
+05/10 23:11:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 23:11:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 23:11:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 23:11:58 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 23:11:59 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.452s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 23:11:59 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.509[m] 85.285[deg]	[grasp_sample.py: 539]
+05/10 23:12:00 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 23:12:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 23:12:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:12:03 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:12:09 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:12:15 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_010	[pipeline.py: 1174]
+05/10 23:12:15 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 23:12:15 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 23:12:19 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 23:12:23 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:12:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 23:12:27 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010	[save_utils.py: 785]
+05/10 23:12:27 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 12.40s (batch: 4.32s, save: 8.08s)	[pipeline.py: 300]
+05/10 23:12:28 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.42s:
+  episode_total: mean=202.02s, total=202.02s, count=1, min=202020.5ms, max=202020.5ms
+  sensor_polling: mean=459.3ms, total=137.78s, count=300, min=392.1ms, max=769.1ms
+  save_trajectories: mean=8.08s, total=8.08s, count=1, min=8080.1ms, max=8080.1ms
+  physics_step: mean=20.9ms, total=6.26s, count=300, min=15.5ms, max=39.8ms
+  save_batch_prep: mean=4.32s, total=4.32s, count=1, min=4323.5ms, max=4323.5ms
+  task_sampling: mean=423.9ms, total=423.9ms, count=1, min=423.9ms, max=423.9ms
+  task_specific_sample: mean=419.7ms, total=419.7ms, count=1, min=419.7ms, max=419.7ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=532.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=17.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 23:12:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 23:12:29 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 23:12:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 23:12:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:12:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:12:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:12:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:12:29 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 23:12:29 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]
+05/10 23:12:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 23:12:29 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]
+05/10 23:12:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 23:12:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 23:12:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.031121m	[env.py: 870]
+05/10 23:12:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 23:12:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 23:12:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 23:12:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.88450412  0.87225546  0.03112136] yaw=-148.4deg	[env.py: 1019]
+05/10 23:12:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 23:12:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.82583343  1.10198974  0.03112136] yaw=-145.9deg	[env.py: 1019]
+05/10 23:12:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 23:12:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -44.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:12:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 125.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:12:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.6833781   0.87154561  0.03112136] yaw=-153.5deg	[env.py: 1019]
+05/10 23:12:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 23:12:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 23:12:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=166.8ms, total=166.9ms	[env.py: 1075]
+05/10 23:12:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.885, 0.872, 0.031)	[env.py: 1079]
+05/10 23:12:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -148.4 deg	[env.py: 1082]
+05/10 23:12:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.906m	[env.py: 1086]
+05/10 23:12:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:12:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:12:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:12:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:12:30 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 23:12:30 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/10 23:12:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.091s	[base_object_manipulation_planner_policy.py: 377]
+05/10 23:12:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 23:12:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 23:12:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.061s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 23:12:31 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.792s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 23:12:31 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.507[m] 92.821[deg]	[grasp_sample.py: 539]
+05/10 23:12:31 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 23:12:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 23:12:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:12:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:12:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:12:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:12:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:12:48 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:12:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:12:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:12:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:12:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:12:53 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 23:12:53 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 23:12:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 23:12:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 23:12:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.053s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 23:12:54 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.384s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 23:12:54 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.452[deg]	[grasp_sample.py: 539]
+05/10 23:12:54 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 23:12:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 23:12:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:12:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:12:56 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 23:12:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:12:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:13:00 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:13:05 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:13:14 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 23:13:17 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:13:18 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:13:26 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 23:13:30 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:13:49 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 23:13:56 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 23:14:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:14:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:14:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:14:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:14:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:14:15 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_010	[pipeline.py: 1174]
+05/10 23:14:15 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 23:14:15 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 23:14:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:14:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:14:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:14:17 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 23:14:17 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 23:14:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 23:14:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 23:14:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 23:14:19 INFO: [Worker 0] Feasibility-checked 78 grasps in 1.479s, found feasible grasp: False	[grasp_sample.py: 500]
+05/10 23:14:19 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/10 23:14:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 23:14:21 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 23:14:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 23:14:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:14:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:14:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:14:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:14:21 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 23:14:21 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 23:14:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 23:14:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.088m, effective arm-mount z=0.948m (base_body_z=0.088m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 23:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 23:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 23:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.087780m	[env.py: 870]
+05/10 23:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 23:14:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 23:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 23:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -176.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.63238644  0.59686233  0.08777963] yaw=-178.5deg	[env.py: 1019]
+05/10 23:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 23:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 123.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.72883175  0.35825008  0.08777963] yaw=179.2deg	[env.py: 1019]
+05/10 23:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 23:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -29.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.01216485  0.80105399  0.08777963] yaw=-147.8deg	[env.py: 1019]
+05/10 23:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 23:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 23:14:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=259.8ms, total=259.8ms	[env.py: 1075]
+05/10 23:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.632, 0.597, 0.088)	[env.py: 1079]
+05/10 23:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -178.5 deg	[env.py: 1082]
+05/10 23:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.076m	[env.py: 1086]
+05/10 23:14:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:14:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:14:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:14:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:14:21 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 23:14:21 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/10 23:14:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
+05/10 23:14:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 23:14:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 23:14:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.042s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 23:14:22 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_010	[pipeline.py: 1174]
+05/10 23:14:22 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 23:14:22 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 23:14:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.683s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 23:14:22 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.590[m] 76.315[deg]	[grasp_sample.py: 539]
+05/10 23:14:22 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 23:14:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 23:14:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:14:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 23:14:27 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010	[save_utils.py: 785]
+05/10 23:14:27 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 11.99s (batch: 3.87s, save: 8.12s)	[pipeline.py: 300]
+05/10 23:14:27 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.56s:
+  episode_total: mean=184.89s, total=184.89s, count=1, min=184890.8ms, max=184890.8ms
+  sensor_polling: mean=454.0ms, total=136.19s, count=300, min=389.4ms, max=795.0ms
+  save_trajectories: mean=8.12s, total=8.12s, count=1, min=8118.7ms, max=8118.7ms
+  physics_step: mean=20.9ms, total=6.26s, count=300, min=16.9ms, max=61.7ms
+  save_batch_prep: mean=3.87s, total=3.87s, count=1, min=3868.6ms, max=3868.6ms
+  task_sampling: mean=562.1ms, total=562.1ms, count=1, min=562.1ms, max=562.1ms
+  task_specific_sample: mean=558.5ms, total=558.5ms, count=1, min=558.5ms, max=558.5ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=375.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=20.6us, 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]
+05/10 23:14:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 23:14:29 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 23:14:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 23:14:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:14:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:14:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:14:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:14:29 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 23:14:29 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]
+05/10 23:14:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 23:14:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.055m, effective arm-mount z=0.915m (base_body_z=0.055m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 23:14:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 23:14:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 23:14:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.055336m	[env.py: 870]
+05/10 23:14:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 23:14:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 23:14:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 23:14:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 117.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:14:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 112.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:14:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 107.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:14:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 113.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:14:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 105.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:14:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.68897646  0.49298975  0.05533634] yaw=-174.4deg	[env.py: 1019]
+05/10 23:14:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 23:14:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.00333088  0.19104732  0.05533634] yaw=163.0deg	[env.py: 1019]
+05/10 23:14:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 23:14:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.92447315  0.65035494  0.05533634] yaw=-166.0deg	[env.py: 1019]
+05/10 23:14:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 23:14:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 23:14:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=264.2ms, total=264.2ms	[env.py: 1075]
+05/10 23:14:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.689, 0.493, 0.055)	[env.py: 1079]
+05/10 23:14:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -174.4 deg	[env.py: 1082]
+05/10 23:14:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.013m	[env.py: 1086]
+05/10 23:14:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:14:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:14:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:14:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:14:29 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 23:14:29 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/10 23:14:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
+05/10 23:14:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 23:14:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 23:14:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 23:14:30 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.602s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 23:14:30 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.582[m] 90.856[deg]	[grasp_sample.py: 539]
+05/10 23:14:30 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 23:14:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 23:14:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:14:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 23:14:34 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010	[save_utils.py: 785]
+05/10 23:14:34 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 12.41s (batch: 4.00s, save: 8.41s)	[pipeline.py: 300]
+05/10 23:14:35 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=1.09s:
+  episode_total: mean=103.21s, total=309.64s, count=3, min=4564.0ms, max=201376.4ms
+  sensor_polling: mean=456.7ms, total=221.96s, count=486, min=389.8ms, max=884.8ms
+  physics_step: mean=22.3ms, total=10.84s, count=486, min=13.6ms, max=68.3ms
+  save_trajectories: mean=8.41s, total=8.41s, count=1, min=8408.3ms, max=8408.3ms
+  save_batch_prep: mean=4.00s, total=4.00s, count=1, min=4003.3ms, max=4003.3ms
+  task_sampling: mean=364.8ms, total=1.09s, count=3, min=307.0ms, max=445.9ms
+  task_specific_sample: mean=361.7ms, total=1.09s, count=3, min=304.1ms, max=442.2ms
+  scene_randomize: mean=1.6ms, total=4.8ms, count=3, min=1.1ms, max=2.5ms
+  mj_forward_sync: mean=443.4us, total=1.3ms, count=3, min=0.4ms, max=0.5ms
+  policy_setup: mean=16.5us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 23:14:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 23:14:37 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 23:14:37 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 23:14:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:14:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:14:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:14:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:14:37 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 23:14:37 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 23:14:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 23:14:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.089m, effective arm-mount z=0.949m (base_body_z=0.089m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 23:14:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 23:14:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 23:14:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.088841m	[env.py: 870]
+05/10 23:14:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 23:14:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 23:14:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 23:14:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -74.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:14:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.9141143   1.043622    0.08884136] yaw=-149.9deg	[env.py: 1019]
+05/10 23:14:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 23:14:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 120.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:14:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 77.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:14:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.84054035  0.70336601  0.08884136] yaw=-167.7deg	[env.py: 1019]
+05/10 23:14:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 23:14:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.60969059  0.43620205  0.08884136] yaw=172.1deg	[env.py: 1019]
+05/10 23:14:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 23:14:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 23:14:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=380.5ms, total=380.5ms	[env.py: 1075]
+05/10 23:14:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.914, 1.044, 0.089)	[env.py: 1079]
+05/10 23:14:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -149.9 deg	[env.py: 1082]
+05/10 23:14:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.968m	[env.py: 1086]
+05/10 23:14:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:14:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:14:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:14:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:14:37 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 23:14:37 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/10 23:14:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.111s	[base_object_manipulation_planner_policy.py: 377]
+05/10 23:14:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 23:14:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 23:14:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.128s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 23:14:46 INFO: [Worker 0] Feasibility-checked 88 grasps in 8.264s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 23:14:46 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.582[m] 82.961[deg]	[grasp_sample.py: 539]
+05/10 23:14:47 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 23:14:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 23:14:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:14:57 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 23:15:18 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:15:21 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_010	[pipeline.py: 1174]
+05/10 23:15:21 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 23:15:21 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 23:15:28 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 23:15:29 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:15:32 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:15:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 23:15:33 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010	[save_utils.py: 785]
+05/10 23:15:33 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 11.94s (batch: 3.98s, save: 7.97s)	[pipeline.py: 300]
+05/10 23:15:34 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.47s:
+  episode_total: mean=184.63s, total=184.63s, count=1, min=184628.9ms, max=184628.9ms
+  sensor_polling: mean=453.5ms, total=136.04s, count=300, min=376.4ms, max=793.5ms
+  save_trajectories: mean=7.97s, total=7.97s, count=1, min=7967.1ms, max=7967.1ms
+  physics_step: mean=21.2ms, total=6.37s, count=300, min=14.1ms, max=58.6ms
+  save_batch_prep: mean=3.98s, total=3.98s, count=1, min=3977.5ms, max=3977.5ms
+  task_sampling: mean=470.2ms, total=470.2ms, count=1, min=470.2ms, max=470.2ms
+  task_specific_sample: mean=465.7ms, total=465.7ms, count=1, min=465.7ms, max=465.7ms
+  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
+  mj_forward_sync: mean=549.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=22.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 23:15:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 23:15:35 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 23:15:35 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 23:15:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:15:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:15:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:15:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:15:35 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 23:15:35 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]
+05/10 23:15:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 23:15:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.051m, effective arm-mount z=0.911m (base_body_z=0.051m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 23:15:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 23:15:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 23:15:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.050939m	[env.py: 870]
+05/10 23:15:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 23:15:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 23:15:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 23:15:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.77535592  0.1748737   0.05093892] yaw=172.4deg	[env.py: 1019]
+05/10 23:15:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 23:15:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -178.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:15:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -72.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:15:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 92.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:15:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.72993338  0.81569096  0.05093892] yaw=-163.1deg	[env.py: 1019]
+05/10 23:15:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 23:15:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.79251365  0.89827407  0.05093892] yaw=-148.1deg	[env.py: 1019]
+05/10 23:15:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 23:15:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 23:15:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=120.4ms, total=120.4ms	[env.py: 1075]
+05/10 23:15:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.775, 0.175, 0.051)	[env.py: 1079]
+05/10 23:15:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 172.4 deg	[env.py: 1082]
+05/10 23:15:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.977m	[env.py: 1086]
+05/10 23:15:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:15:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:15:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:15:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:15:36 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 23:15:36 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/10 23:15:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s	[base_object_manipulation_planner_policy.py: 377]
+05/10 23:15:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 23:15:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 23:15:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 23:15:36 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.519s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 23:15:36 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.550[m] 89.410[deg]	[grasp_sample.py: 539]
+05/10 23:15:36 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 23:15:37 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 23:15:37 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:15:38 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 23:15:42 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:15:42 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:15:52 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 23:15:56 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:15:56 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/10 23:15:56 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 23:15:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 23:15:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 23:15:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 23:15:57 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.360s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 23:15:57 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.115[m] 2.631[deg]	[grasp_sample.py: 539]
+05/10 23:15:57 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 23:15:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 23:15:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:16:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:16:17 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 23:16:21 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:16:27 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:16:36 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 23:16:41 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:16:47 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 23:16:55 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 23:17:09 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_010	[pipeline.py: 1174]
+05/10 23:17:09 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 23:17:09 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 23:17:11 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 23:17:20 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_010	[pipeline.py: 1174]
+05/10 23:17:20 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 23:17:20 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 23:17:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 23:17:22 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010	[save_utils.py: 785]
+05/10 23:17:22 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 12.99s (batch: 4.89s, save: 8.10s)	[pipeline.py: 300]
+05/10 23:17:23 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=1.73s:
+  episode_total: mean=115.06s, total=460.23s, count=4, min=2897.8ms, max=182178.1ms
+  sensor_polling: mean=445.7ms, total=363.66s, count=816, min=373.8ms, max=915.7ms
+  physics_step: mean=21.3ms, total=17.39s, count=816, min=13.7ms, max=66.4ms
+  save_trajectories: mean=8.10s, total=8.10s, count=1, min=8098.4ms, max=8098.4ms
+  save_batch_prep: mean=4.89s, total=4.89s, count=1, min=4891.6ms, max=4891.6ms
+  task_sampling: mean=431.9ms, total=1.73s, count=4, min=358.0ms, max=565.0ms
+  task_specific_sample: mean=428.7ms, total=1.71s, count=4, min=355.2ms, max=561.0ms
+  scene_randomize: mean=1.5ms, total=6.1ms, count=4, min=1.1ms, max=2.4ms
+  mj_forward_sync: mean=416.6us, total=1.7ms, count=4, min=0.4ms, max=0.5ms
+  policy_setup: mean=17.0us, total=0.1ms, count=4, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 23:17:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 23:17:24 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 23:17:24 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 23:17:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:17:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:17:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:17:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:17:24 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 23:17:24 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 23:17:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 23:17:24 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]
+05/10 23:17:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 23:17:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 23:17:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.031035m	[env.py: 870]
+05/10 23:17:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 23:17:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 23:17:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 23:17:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -69.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:17:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -30.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:17:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 55.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:17:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.83505234  0.93351166  0.03103468] yaw=-142.5deg	[env.py: 1019]
+05/10 23:17:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 23:17:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 108.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:17:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.85209926  1.16649094  0.03103468] yaw=-150.5deg	[env.py: 1019]
+05/10 23:17:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 23:17:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.75132531  0.59733863  0.03103468] yaw=-167.8deg	[env.py: 1019]
+05/10 23:17:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 23:17:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 23:17:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=215.9ms, total=215.9ms	[env.py: 1075]
+05/10 23:17:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.835, 0.934, 0.031)	[env.py: 1079]
+05/10 23:17:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -142.5 deg	[env.py: 1082]
+05/10 23:17:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.978m	[env.py: 1086]
+05/10 23:17:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:17:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:17:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:17:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:17:25 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 23:17:25 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/10 23:17:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.104s	[base_object_manipulation_planner_policy.py: 377]
+05/10 23:17:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 23:17:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 23:17:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 23:17:26 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.425s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 23:17:26 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.541[m] 84.982[deg]	[grasp_sample.py: 539]
+05/10 23:17:26 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 23:17:27 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 23:17:27 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:17:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 23:17:32 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010	[save_utils.py: 785]
+05/10 23:17:32 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 12.18s (batch: 4.06s, save: 8.12s)	[pipeline.py: 300]
+05/10 23:17:33 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.54s:
+  episode_total: mean=184.29s, total=184.29s, count=1, min=184290.9ms, max=184290.9ms
+  sensor_polling: mean=452.6ms, total=135.77s, count=300, min=398.0ms, max=848.9ms
+  save_trajectories: mean=8.12s, total=8.12s, count=1, min=8119.0ms, max=8119.0ms
+  physics_step: mean=21.9ms, total=6.57s, count=300, min=14.1ms, max=49.5ms
+  save_batch_prep: mean=4.06s, total=4.06s, count=1, min=4058.3ms, max=4058.3ms
+  task_sampling: mean=541.6ms, total=541.6ms, count=1, min=541.6ms, max=541.6ms
+  task_specific_sample: mean=538.2ms, total=538.2ms, count=1, min=538.2ms, max=538.2ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=370.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 23:17:33 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_010	[pipeline.py: 1174]
+05/10 23:17:33 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 23:17:33 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 23:17:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 23:17:34 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 23:17:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 23:17:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:17:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:17:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:17:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:17:34 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 23:17:34 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 23:17:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 23:17:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.044m, effective arm-mount z=0.904m (base_body_z=0.044m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 23:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 23:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 23:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.043583m	[env.py: 870]
+05/10 23:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 23:17:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 23:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 23:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 131.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:17:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 57.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:17:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.77045905  0.53734807  0.04358324] yaw=-166.5deg	[env.py: 1019]
+05/10 23:17:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 23:17:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.11652541  1.14985314  0.04358324] yaw=-132.8deg	[env.py: 1019]
+05/10 23:17:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 23:17:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 118.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:17:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 23:17:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=187.4ms, total=187.4ms	[env.py: 1075]
+05/10 23:17:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.770, 0.537, 0.044)	[env.py: 1079]
+05/10 23:17:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -166.5 deg	[env.py: 1082]
+05/10 23:17:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.934m	[env.py: 1086]
+05/10 23:17:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:17:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:17:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:17:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:17:35 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 23:17:35 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/10 23:17:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s	[base_object_manipulation_planner_policy.py: 377]
+05/10 23:17:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 23:17:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 23:17:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 23:17:35 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.473s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 23:17:35 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.475[m] 85.668[deg]	[grasp_sample.py: 539]
+05/10 23:17:36 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 23:17:36 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 23:17:36 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:17:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 23:17:49 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010	[save_utils.py: 785]
+05/10 23:17:49 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 15.33s (batch: 3.92s, save: 11.41s)	[pipeline.py: 300]
+05/10 23:17:49 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.66s:
+  episode_total: mean=192.89s, total=192.89s, count=1, min=192888.7ms, max=192888.7ms
+  sensor_polling: mean=450.3ms, total=135.08s, count=300, min=387.2ms, max=841.2ms
+  save_trajectories: mean=11.41s, total=11.41s, count=1, min=11406.9ms, max=11406.9ms
+  physics_step: mean=20.5ms, total=6.14s, count=300, min=13.8ms, max=38.1ms
+  save_batch_prep: mean=3.92s, total=3.92s, count=1, min=3920.7ms, max=3920.7ms
+  task_sampling: mean=657.5ms, total=657.5ms, count=1, min=657.5ms, max=657.5ms
+  task_specific_sample: mean=650.2ms, total=650.2ms, count=1, min=650.2ms, max=650.2ms
+  scene_randomize: mean=6.0ms, total=6.0ms, count=1, min=6.0ms, max=6.0ms
+  mj_forward_sync: mean=449.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=20.8us, 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]
+05/10 23:17:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 23:17:51 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 23:17:51 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 23:17:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:17:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:17:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:17:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:17:51 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 23:17:51 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]
+05/10 23:17:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 23:17:51 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]
+05/10 23:17:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 23:17:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 23:17:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.054046m	[env.py: 870]
+05/10 23:17:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 23:17:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 23:17:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 23:17:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -177.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:17:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.71513184  0.91201901  0.05404621] yaw=-150.5deg	[env.py: 1019]
+05/10 23:17:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 23:17:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 58.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:17:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -75.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:17:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.94391485  0.50665513  0.05404621] yaw=-188.3deg	[env.py: 1019]
+05/10 23:17:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 23:17:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.87642087  0.53795885  0.05404621] yaw=-170.7deg	[env.py: 1019]
+05/10 23:17:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 23:17:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 23:17:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=168.0ms, total=168.1ms	[env.py: 1075]
+05/10 23:17:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.715, 0.912, 0.054)	[env.py: 1079]
+05/10 23:17:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -150.5 deg	[env.py: 1082]
+05/10 23:17:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.077m	[env.py: 1086]
+05/10 23:17:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:17:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:17:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:17:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:17:52 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 23:17:52 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/10 23:17:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s	[base_object_manipulation_planner_policy.py: 377]
+05/10 23:17:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 23:17:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 23:17:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 23:17:53 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.546s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 23:17:53 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.639[m] 71.985[deg]	[grasp_sample.py: 539]
+05/10 23:17:53 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 23:17:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 23:17:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:17:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:18:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:18:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:18:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:18:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:18:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:18:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:18:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:18:10 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 23:18:10 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 23:18:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 23:18:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 23:18:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 23:18:10 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.471s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 23:18:10 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.867[deg]	[grasp_sample.py: 539]
+05/10 23:18:10 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 23:18:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 23:18:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:18:14 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 23:18:19 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:18:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:18:29 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 23:18:33 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:18:33 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 23:18:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:18:38 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_010	[pipeline.py: 1174]
+05/10 23:18:38 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 23:18:38 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 23:18:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 23:18:50 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010	[save_utils.py: 785]
+05/10 23:18:50 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 12.87s (batch: 3.81s, save: 9.06s)	[pipeline.py: 300]
+05/10 23:18:51 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.37s:
+  episode_total: mean=195.53s, total=195.53s, count=1, min=195529.9ms, max=195529.9ms
+  sensor_polling: mean=457.0ms, total=137.09s, count=300, min=383.9ms, max=931.5ms
+  save_trajectories: mean=9.06s, total=9.06s, count=1, min=9058.0ms, max=9058.0ms
+  physics_step: mean=22.0ms, total=6.59s, count=300, min=13.7ms, max=71.3ms
+  save_batch_prep: mean=3.81s, total=3.81s, count=1, min=3808.5ms, max=3808.5ms
+  task_sampling: mean=368.1ms, total=368.1ms, count=1, min=368.1ms, max=368.1ms
+  task_specific_sample: mean=363.8ms, total=363.8ms, count=1, min=363.8ms, max=363.8ms
+  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
+  mj_forward_sync: mean=538.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=17.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 23:18:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 23:18:53 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 23:18:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 23:18:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:18:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:18:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:18:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:18:53 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 23:18:53 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]
+05/10 23:18:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 23:18:53 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]
+05/10 23:18:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 23:18:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 23:18:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.049946m	[env.py: 870]
+05/10 23:18:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 23:18:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 23:18:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 23:18:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 90.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:18:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 105.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:18:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -48.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:18:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.94939974  0.64360502  0.0499456 ] yaw=-168.7deg	[env.py: 1019]
+05/10 23:18:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 23:18:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 56.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:18:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.15025367  1.07719425  0.0499456 ] yaw=-143.5deg	[env.py: 1019]
+05/10 23:18:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 23:18:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.11207081  0.9852136   0.0499456 ] yaw=-138.2deg	[env.py: 1019]
+05/10 23:18:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 23:18:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 23:18:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=153.2ms, total=153.3ms	[env.py: 1075]
+05/10 23:18:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.949, 0.644, 0.050)	[env.py: 1079]
+05/10 23:18:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -168.7 deg	[env.py: 1082]
+05/10 23:18:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.770m	[env.py: 1086]
+05/10 23:18:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:18:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:18:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:18:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:18:53 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 23:18:53 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/10 23:18:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s	[base_object_manipulation_planner_policy.py: 377]
+05/10 23:18:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 23:18:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 23:18:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 23:18:54 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.415s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 23:18:54 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.377[m] 102.274[deg]	[grasp_sample.py: 539]
+05/10 23:18:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:18:54 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 23:18:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 23:18:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:19:02 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 23:19:06 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:19:28 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:19:37 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 23:19:41 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:19:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:19:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:19:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:19:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:19:50 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 23:19:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:19:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:19:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:19:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:19:55 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 23:19:55 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 23:19:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 23:19:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 23:19:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 23:19:56 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.390s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 23:19:56 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.490[deg]	[grasp_sample.py: 539]
+05/10 23:19:56 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 23:19:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 23:19:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:20:06 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:20:11 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_010	[pipeline.py: 1174]
+05/10 23:20:11 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 23:20:11 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 23:20:12 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 23:20:20 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 23:20:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 23:20:25 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010	[save_utils.py: 785]
+05/10 23:20:25 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 13.96s (batch: 4.67s, save: 9.29s)	[pipeline.py: 300]
+05/10 23:20:26 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.50s:
+  episode_total: mean=181.25s, total=181.25s, count=1, min=181252.5ms, max=181252.5ms
+  sensor_polling: mean=447.3ms, total=134.18s, count=300, min=375.9ms, max=868.6ms
+  save_trajectories: mean=9.29s, total=9.29s, count=1, min=9289.0ms, max=9289.0ms
+  physics_step: mean=20.5ms, total=6.16s, count=300, min=13.6ms, max=54.6ms
+  save_batch_prep: mean=4.67s, total=4.67s, count=1, min=4672.2ms, max=4672.2ms
+  task_sampling: mean=500.8ms, total=500.8ms, count=1, min=500.8ms, max=500.8ms
+  task_specific_sample: mean=497.4ms, total=497.4ms, count=1, min=497.4ms, max=497.4ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=376.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=19.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 23:20:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 23:20:27 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 23:20:27 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 23:20:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:20:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:20:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:20:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:20:27 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 23:20:27 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]
+05/10 23:20:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 23:20:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.012m, effective arm-mount z=0.872m (base_body_z=0.012m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 23:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 23:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 23:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.011674m	[env.py: 870]
+05/10 23:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 23:20:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 23:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 23:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.00662018  1.2495258   0.01167393] yaw=-141.9deg	[env.py: 1019]
+05/10 23:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 23:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.94610444  0.17929252  0.01167393] yaw=155.9deg	[env.py: 1019]
+05/10 23:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 23:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.80738794  0.69778829  0.01167393] yaw=-177.8deg	[env.py: 1019]
+05/10 23:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 23:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 23:20:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=74.0ms, total=74.1ms	[env.py: 1075]
+05/10 23:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.007, 1.250, 0.012)	[env.py: 1079]
+05/10 23:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -141.9 deg	[env.py: 1082]
+05/10 23:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.036m	[env.py: 1086]
+05/10 23:20:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:20:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:20:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:20:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:20:28 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 23:20:28 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/10 23:20:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
+05/10 23:20:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 23:20:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 23:20:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 23:20:29 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.526s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 23:20:29 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.609[m] 86.121[deg]	[grasp_sample.py: 539]
+05/10 23:20:30 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 23:20:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 23:20:32 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 23:20:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 23:20:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:20:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:20:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:20:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:20:32 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 23:20:32 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]
+05/10 23:20:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 23:20:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.088m, effective arm-mount z=0.948m (base_body_z=0.088m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 23:20:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 23:20:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 23:20:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.087596m	[env.py: 870]
+05/10 23:20:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 23:20:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 23:20:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 23:20:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.94001052  0.38712995  0.08759611] yaw=172.9deg	[env.py: 1019]
+05/10 23:20:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 23:20:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 69.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:20:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -73.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:20:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 107.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:20:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -64.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:20:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.83387378  0.53923879  0.08759611] yaw=-167.4deg	[env.py: 1019]
+05/10 23:20:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 23:20:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.74824286  0.37428297  0.08759611] yaw=165.5deg	[env.py: 1019]
+05/10 23:20:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 23:20:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 23:20:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=147.2ms, total=147.2ms	[env.py: 1075]
+05/10 23:20:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.940, 0.387, 0.088)	[env.py: 1079]
+05/10 23:20:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 172.9 deg	[env.py: 1082]
+05/10 23:20:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.768m	[env.py: 1086]
+05/10 23:20:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:20:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:20:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:20:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:20:32 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 23:20:32 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/10 23:20:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s	[base_object_manipulation_planner_policy.py: 377]
+05/10 23:20:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 23:20:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 23:20:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 23:20:33 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.436s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 23:20:33 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.304[m] 86.603[deg]	[grasp_sample.py: 539]
+05/10 23:20:33 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 23:20:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 23:20:33 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:20:37 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_7/sim_chunks/chunk_010	[pipeline.py: 1174]
+05/10 23:20:37 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 23:20:37 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 23:20:41 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_7/sim_chunks/chunk_010	[pipeline.py: 1174]
+05/10 23:20:41 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 23:20:41 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 23:20:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 23:20:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010	[save_utils.py: 785]
+05/10 23:20:51 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 14.17s (batch: 4.05s, save: 10.12s)	[pipeline.py: 300]
+05/10 23:20:52 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.44s:
+  episode_total: mean=197.26s, total=197.26s, count=1, min=197260.0ms, max=197260.0ms
+  sensor_polling: mean=456.7ms, total=137.02s, count=300, min=390.7ms, max=889.5ms
+  save_trajectories: mean=10.12s, total=10.12s, count=1, min=10121.1ms, max=10121.1ms
+  physics_step: mean=20.2ms, total=6.06s, count=300, min=16.9ms, max=48.2ms
+  save_batch_prep: mean=4.05s, total=4.05s, count=1, min=4045.1ms, max=4045.1ms
+  task_sampling: mean=441.2ms, total=441.2ms, count=1, min=441.2ms, max=441.2ms
+  task_specific_sample: mean=437.7ms, total=437.7ms, count=1, min=437.7ms, max=437.7ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=365.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 23:20:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 23:20:53 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 23:20:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 23:20:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:20:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:20:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:20:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:20:53 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 23:20:53 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]
+05/10 23:20:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 23:20:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.013m, effective arm-mount z=0.873m (base_body_z=0.013m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 23:20:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 23:20:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 23:20:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.013231m	[env.py: 870]
+05/10 23:20:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 23:20:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 23:20:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 23:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -160.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 54.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 89.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 118.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -61.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.70591604  0.82921257  0.01323072] yaw=-169.5deg	[env.py: 1019]
+05/10 23:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 23:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.6738052   0.13034528  0.01323072] yaw=153.3deg	[env.py: 1019]
+05/10 23:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 23:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 23:20:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=457.6ms, total=457.6ms	[env.py: 1075]
+05/10 23:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.706, 0.829, 0.013)	[env.py: 1079]
+05/10 23:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -169.5 deg	[env.py: 1082]
+05/10 23:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.055m	[env.py: 1086]
+05/10 23:20:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:20:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:20:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:20:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:20:54 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 23:20:54 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/10 23:20:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.098s	[base_object_manipulation_planner_policy.py: 377]
+05/10 23:20:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 23:20:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 23:20:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 23:20:56 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.052s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 23:20:56 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.637[m] 92.865[deg]	[grasp_sample.py: 539]
+05/10 23:20:56 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 23:20:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 23:20:57 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010	[save_utils.py: 785]
+05/10 23:20:57 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 15.61s (batch: 4.30s, save: 11.30s)	[pipeline.py: 300]
+05/10 23:20:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 23:20:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:20:57 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.46s:
+  episode_total: mean=186.10s, total=186.10s, count=1, min=186097.0ms, max=186097.0ms
+  sensor_polling: mean=455.8ms, total=136.73s, count=300, min=389.2ms, max=972.1ms
+  save_trajectories: mean=11.30s, total=11.30s, count=1, min=11300.6ms, max=11300.6ms
+  physics_step: mean=20.8ms, total=6.24s, count=300, min=15.1ms, max=49.0ms
+  save_batch_prep: mean=4.30s, total=4.30s, count=1, min=4304.5ms, max=4304.5ms
+  task_sampling: mean=456.2ms, total=456.2ms, count=1, min=456.2ms, max=456.2ms
+  task_specific_sample: mean=451.9ms, total=451.9ms, count=1, min=451.9ms, max=451.9ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=586.5us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=18.4us, 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]
+05/10 23:20:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 23:20:59 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 23:20:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 23:20:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:20:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:20:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:20:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:20:59 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 23:20:59 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]
+05/10 23:20:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 23:20:59 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]
+05/10 23:20:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 23:20:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 23:20:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.064039m	[env.py: 870]
+05/10 23:20:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 23:20:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 23:20:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 23:20:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 84.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:20:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -63.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:20:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -174.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:20:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.63288581  0.28576038  0.06403896] yaw=175.2deg	[env.py: 1019]
+05/10 23:20:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 23:20:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 119.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:20:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.00184497  0.77861849  0.06403896] yaw=-165.0deg	[env.py: 1019]
+05/10 23:20:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 23:20:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 23:20:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=239.5ms, total=239.6ms	[env.py: 1075]
+05/10 23:20:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.633, 0.286, 0.064)	[env.py: 1079]
+05/10 23:20:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 175.2 deg	[env.py: 1082]
+05/10 23:20:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.087m	[env.py: 1086]
+05/10 23:20:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:20:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:20:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:20:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:20:59 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 23:20:59 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/10 23:20:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.091s	[base_object_manipulation_planner_policy.py: 377]
+05/10 23:20:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 23:20:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 23:20:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 23:21:00 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.771s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 23:21:00 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.655[m] 92.411[deg]	[grasp_sample.py: 539]
+05/10 23:21:00 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 23:21:01 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 23:21:01 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:21:02 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:21:12 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 23:21:16 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:21:25 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 23:21:47 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_010	[pipeline.py: 1174]
+05/10 23:21:47 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 23:21:47 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 23:21:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:21:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:21:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:22:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:22:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:22:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 23:22:01 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010	[save_utils.py: 785]
+05/10 23:22:01 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 13.91s (batch: 3.86s, save: 10.05s)	[pipeline.py: 300]
+05/10 23:22:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:22:02 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.42s:
+  episode_total: mean=189.05s, total=189.05s, count=1, min=189051.2ms, max=189051.2ms
+  sensor_polling: mean=462.5ms, total=138.74s, count=300, min=384.5ms, max=944.0ms
+  save_trajectories: mean=10.05s, total=10.05s, count=1, min=10054.9ms, max=10054.9ms
+  physics_step: mean=21.4ms, total=6.43s, count=300, min=16.8ms, max=47.9ms
+  save_batch_prep: mean=3.86s, total=3.86s, count=1, min=3857.2ms, max=3857.2ms
+  task_sampling: mean=416.7ms, total=416.7ms, count=1, min=416.7ms, max=416.7ms
+  task_specific_sample: mean=413.1ms, total=413.1ms, count=1, min=413.1ms, max=413.1ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=380.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=34.2us, 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]
+05/10 23:22:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:22:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 23:22:03 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 23:22:03 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 23:22:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:22:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:22:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:22:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:22:03 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 23:22:03 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]
+05/10 23:22:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 23:22:03 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]
+05/10 23:22:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 23:22:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 23:22:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034938m	[env.py: 870]
+05/10 23:22:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 23:22:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 23:22:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 23:22:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -174.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:22:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 108.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:22:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 166.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:22:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 76.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:22:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -31.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:22:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.96926983  0.96649758  0.03493774] yaw=-155.2deg	[env.py: 1019]
+05/10 23:22:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 23:22:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.00193814  1.08350053  0.03493774] yaw=-132.2deg	[env.py: 1019]
+05/10 23:22:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 23:22:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.82263298  0.12315937  0.03493774] yaw=166.8deg	[env.py: 1019]
+05/10 23:22:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 23:22:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 23:22:03 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]
+05/10 23:22:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.969, 0.966, 0.035)	[env.py: 1079]
+05/10 23:22:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -155.2 deg	[env.py: 1082]
+05/10 23:22:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.879m	[env.py: 1086]
+05/10 23:22:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:22:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:22:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:22:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:22:04 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 23:22:04 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/10 23:22:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
+05/10 23:22:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 23:22:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 23:22:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 23:22:04 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.519s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 23:22:04 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.438[m] 78.846[deg]	[grasp_sample.py: 539]
+05/10 23:22:04 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 23:22:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:22:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 23:22:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:22:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:22:06 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 23:22:06 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 23:22:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 23:22:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 23:22:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 23:22:06 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:22:06 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.355s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 23:22:06 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.291[deg]	[grasp_sample.py: 539]
+05/10 23:22:07 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 23:22:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 23:22:09 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 23:22:09 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 23:22:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:22:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:22:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:22:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:22:09 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 23:22:09 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]
+05/10 23:22:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 23:22:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.098m, effective arm-mount z=0.958m (base_body_z=0.098m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 23:22:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 23:22:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 23:22:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.098070m	[env.py: 870]
+05/10 23:22:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 23:22:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 23:22:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 23:22:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 73.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:22:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 107.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:22:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.63742084  0.54004988  0.09807029] yaw=-171.4deg	[env.py: 1019]
+05/10 23:22:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 23:22:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -53.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:22:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.9422317   0.24074234  0.09807029] yaw=169.7deg	[env.py: 1019]
+05/10 23:22:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 23:22:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.76707691  0.45150478  0.09807029] yaw=187.2deg	[env.py: 1019]
+05/10 23:22:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 23:22:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 23:22:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=147.1ms, total=147.2ms	[env.py: 1075]
+05/10 23:22:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.637, 0.540, 0.098)	[env.py: 1079]
+05/10 23:22:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -171.4 deg	[env.py: 1082]
+05/10 23:22:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.067m	[env.py: 1086]
+05/10 23:22:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:22:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:22:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:22:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:22:09 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 23:22:09 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/10 23:22:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s	[base_object_manipulation_planner_policy.py: 377]
+05/10 23:22:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 23:22:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 23:22:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 23:22:10 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 23:22:10 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.814s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 23:22:10 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.638[m] 89.751[deg]	[grasp_sample.py: 539]
+05/10 23:22:10 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 23:22:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 23:22:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:22:14 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:22:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 23:22:20 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:22:43 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:22:53 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 23:22:57 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:23:10 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:23:27 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 23:23:28 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 23:23:32 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 23:23:33 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:23:50 INFO: [Worker 0] Saved videos eagerly for episode 13 to /scr/ravenh/fridge_7/sim_chunks/chunk_010	[pipeline.py: 1174]
+05/10 23:23:50 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 23:23:50 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 23:23:57 INFO: [Worker 0] Saved videos eagerly for episode 13 to /scr/ravenh/fridge_7/sim_chunks/chunk_010	[pipeline.py: 1174]
+05/10 23:23:57 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 23:23:57 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 23:24:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 23:24:04 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010	[save_utils.py: 785]
+05/10 23:24:04 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 14.14s (batch: 5.23s, save: 8.91s)	[pipeline.py: 300]
+05/10 23:24:05 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.73s:
+  episode_total: mean=191.54s, total=191.54s, count=1, min=191542.3ms, max=191542.3ms
+  sensor_polling: mean=470.8ms, total=141.23s, count=300, min=406.2ms, max=995.2ms
+  save_trajectories: mean=8.91s, total=8.91s, count=1, min=8912.9ms, max=8912.9ms
+  physics_step: mean=21.4ms, total=6.43s, count=300, min=13.7ms, max=62.0ms
+  save_batch_prep: mean=5.23s, total=5.23s, count=1, min=5230.0ms, max=5230.0ms
+  task_sampling: mean=731.4ms, total=731.4ms, count=1, min=731.4ms, max=731.4ms
+  task_specific_sample: mean=727.1ms, total=727.1ms, count=1, min=727.1ms, max=727.1ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=563.9us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=16.7us, 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]
+05/10 23:24:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 23:24:07 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 23:24:07 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 23:24:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:24:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:24:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:24:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:24:07 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 23:24:07 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]
+05/10 23:24:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 23:24:07 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]
+05/10 23:24:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 23:24:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 23:24:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.025803m	[env.py: 870]
+05/10 23:24:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 23:24:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 23:24:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 23:24:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 64.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:24:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.64961975  0.71305545  0.02580289] yaw=-163.8deg	[env.py: 1019]
+05/10 23:24:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 23:24:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.67124166  0.53856956  0.02580289] yaw=-174.4deg	[env.py: 1019]
+05/10 23:24:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 23:24:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 116.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:24:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 112.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:24:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.90592595  0.99345116  0.02580289] yaw=-149.8deg	[env.py: 1019]
+05/10 23:24:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 23:24:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 23:24:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=95.8ms, total=95.9ms	[env.py: 1075]
+05/10 23:24:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.650, 0.713, 0.026)	[env.py: 1079]
+05/10 23:24:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -163.8 deg	[env.py: 1082]
+05/10 23:24:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.078m	[env.py: 1086]
+05/10 23:24:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:24:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:24:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:24:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:24:07 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 23:24:07 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/10 23:24:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
+05/10 23:24:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 23:24:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 23:24:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 23:24:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.542s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 23:24:09 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.639[m] 92.096[deg]	[grasp_sample.py: 539]
+05/10 23:24:09 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 23:24:09 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 23:24:09 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:24:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 23:24:09 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010	[save_utils.py: 785]
+05/10 23:24:09 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 12.29s (batch: 4.24s, save: 8.06s)	[pipeline.py: 300]
+05/10 23:24:10 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.53s:
+  episode_total: mean=191.38s, total=191.38s, count=1, min=191378.0ms, max=191378.0ms
+  sensor_polling: mean=470.8ms, total=141.25s, count=300, min=410.7ms, max=864.4ms
+  save_trajectories: mean=8.06s, total=8.06s, count=1, min=8057.8ms, max=8057.8ms
+  physics_step: mean=23.0ms, total=6.91s, count=300, min=13.8ms, max=51.8ms
+  save_batch_prep: mean=4.24s, total=4.24s, count=1, min=4235.5ms, max=4235.5ms
+  task_sampling: mean=531.9ms, total=531.9ms, count=1, min=531.9ms, max=531.9ms
+  task_specific_sample: mean=528.4ms, total=528.4ms, count=1, min=528.4ms, max=528.4ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=394.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=20.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 23:24:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 23:24:12 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 23:24:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 23:24:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:24:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:24:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:24:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:24:12 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 23:24:12 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]
+05/10 23:24:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 23:24:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.061m, effective arm-mount z=0.921m (base_body_z=0.061m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 23:24:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 23:24:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 23:24:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.060582m	[env.py: 870]
+05/10 23:24:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 23:24:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 23:24:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 23:24:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 102.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:24:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 56.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:24:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -77.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:24:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 159.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:24:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.05135322  0.96133591  0.06058206] yaw=-151.0deg	[env.py: 1019]
+05/10 23:24:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 23:24:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 23:24:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=160.8ms, total=160.9ms	[env.py: 1075]
+05/10 23:24:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.051, 0.961, 0.061)	[env.py: 1079]
+05/10 23:24:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -151.0 deg	[env.py: 1082]
+05/10 23:24:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.808m	[env.py: 1086]
+05/10 23:24:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:24:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:24:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:24:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:24:12 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 23:24:12 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/10 23:24:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s	[base_object_manipulation_planner_policy.py: 377]
+05/10 23:24:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 23:24:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 23:24:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.065s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 23:24:13 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.562s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 23:24:13 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.391[m] 87.767[deg]	[grasp_sample.py: 539]
+05/10 23:24:13 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 23:24:14 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 23:24:14 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:24:39 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 23:24:50 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 23:24:56 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:25:05 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_7/sim_chunks/chunk_010	[pipeline.py: 1174]
+05/10 23:25:05 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 23:25:05 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 23:25:07 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 23:25:11 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:25:14 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_7/sim_chunks/chunk_010	[pipeline.py: 1174]
+05/10 23:25:14 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 23:25:14 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 23:25:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 23:25:18 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010	[save_utils.py: 785]
+05/10 23:25:18 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 13.33s (batch: 4.35s, save: 8.99s)	[pipeline.py: 300]
+05/10 23:25:18 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.44s:
+  episode_total: mean=195.24s, total=195.24s, count=1, min=195236.2ms, max=195236.2ms
+  sensor_polling: mean=483.8ms, total=145.13s, count=300, min=404.4ms, max=942.8ms
+  save_trajectories: mean=8.99s, total=8.99s, count=1, min=8987.3ms, max=8987.3ms
+  physics_step: mean=22.7ms, total=6.82s, count=300, min=14.3ms, max=94.0ms
+  save_batch_prep: mean=4.35s, total=4.35s, count=1, min=4346.9ms, max=4346.9ms
+  task_sampling: mean=442.4ms, total=442.4ms, count=1, min=442.4ms, max=442.4ms
+  task_specific_sample: mean=439.2ms, total=439.2ms, count=1, min=439.2ms, max=439.2ms
+  scene_randomize: mean=2.0ms, total=2.0ms, count=1, min=2.0ms, max=2.0ms
+  mj_forward_sync: mean=377.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 23:25:20 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:25:21 WARNING: [Worker 0] No trajectory data to save for chunk_010	[pipeline.py: 234]
+05/10 23:25:21 WARNING: [Worker 0] No trajectory data to save for chunk_010	[pipeline.py: 234]
+05/10 23:25:21 INFO: [Worker 0] Worker 0 completed house 1: 13/13 successful episodes	[pipeline.py: 1323]
+05/10 23:25:21 INFO: [Worker 0] [PROFILE] House 1 complete: 13/13 successful, 13 episodes, total_time=5179.67s
+  House averages:
+  episode_total: mean=156.63s, total=2819.29s, count=18, min=199.9ms, max=202020.5ms
+  sensor_polling: mean=454.5ms, total=2073.64s, count=4562, min=376.4ms, max=944.0ms
+  save_trajectories: mean=8.63s, total=112.15s, count=13, min=6821.8ms, max=10761.9ms
+  physics_step: mean=21.3ms, total=96.95s, count=4562, min=13.5ms, max=94.0ms
+  save_batch_prep: mean=4.04s, total=52.46s, count=13, min=3696.0ms, max=4834.6ms
+  task_sampling: mean=619.8ms, total=10.54s, count=17, min=346.8ms, max=3854.6ms
+  task_specific_sample: mean=437.8ms, total=7.88s, count=18, min=192.6ms, max=1063.9ms
+  scene_load: mean=2.79s, total=2.79s, count=1, min=2786.8ms, max=2786.8ms
+  scene_env_create: mean=1.73s, total=1.73s, count=1, min=1727.6ms, max=1727.6ms
+  scene_compile: mean=773.8ms, total=773.8ms, count=1, min=773.8ms, max=773.8ms
+  compile_mujoco: mean=576.3ms, total=576.3ms, count=1, min=576.3ms, max=576.3ms
+  task_sampling_failed: mean=199.9ms, total=199.9ms, count=1, min=199.9ms, max=199.9ms
+  scene_asset_install: mean=143.8ms, total=143.8ms, count=1, min=143.8ms, max=143.8ms
+  compile_xml_load: mean=143.4ms, total=143.4ms, count=1, min=143.4ms, max=143.4ms
+  scene_init: mean=141.3ms, total=141.3ms, count=1, min=141.3ms, max=141.3ms
+  asset_install_grasps: mean=78.6ms, total=78.6ms, count=1, min=78.6ms, max=78.6ms
+  asset_install_objects: mean=40.0ms, total=40.0ms, count=1, min=40.0ms, max=40.0ms
+  compile_aux_objects: mean=39.7ms, total=39.7ms, count=1, min=39.7ms, max=39.7ms
+  compile_aux_policy_objects: mean=39.6ms, total=39.6ms, count=1, min=39.6ms, max=39.6ms
+  scene_randomize: mean=2.2ms, total=39.5ms, count=18, min=1.1ms, max=3.4ms
+  asset_install_scene: mean=25.3ms, total=25.3ms, count=1, min=25.3ms, max=25.3ms
+  mj_forward_sync: mean=460.8us, total=8.3ms, count=18, min=0.4ms, max=0.6ms
+  compile_robot_add: mean=6.3ms, total=6.3ms, count=1, min=6.3ms, max=6.3ms
+  policy_setup: mean=22.0us, 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]
+05/10 23:25:21 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/10 23:25:21 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 13 episodes, total_time=5179.67s
+  Worker averages:
+  episode_total: mean=156.63s, total=2819.29s, count=18, min=199.9ms, max=202020.5ms
+  sensor_polling: mean=454.5ms, total=2073.64s, count=4562, min=376.4ms, max=944.0ms
+  save_trajectories: mean=8.63s, total=112.15s, count=13, min=6821.8ms, max=10761.9ms
+  physics_step: mean=21.3ms, total=96.95s, count=4562, min=13.5ms, max=94.0ms
+  save_batch_prep: mean=4.04s, total=52.46s, count=13, min=3696.0ms, max=4834.6ms
+  task_sampling: mean=619.8ms, total=10.54s, count=17, min=346.8ms, max=3854.6ms
+  task_specific_sample: mean=437.8ms, total=7.88s, count=18, min=192.6ms, max=1063.9ms
+  scene_load: mean=2.79s, total=2.79s, count=1, min=2786.8ms, max=2786.8ms
+  scene_env_create: mean=1.73s, total=1.73s, count=1, min=1727.6ms, max=1727.6ms
+  scene_compile: mean=773.8ms, total=773.8ms, count=1, min=773.8ms, max=773.8ms
+  compile_mujoco: mean=576.3ms, total=576.3ms, count=1, min=576.3ms, max=576.3ms
+  task_sampling_failed: mean=199.9ms, total=199.9ms, count=1, min=199.9ms, max=199.9ms
+  scene_asset_install: mean=143.8ms, total=143.8ms, count=1, min=143.8ms, max=143.8ms
+  compile_xml_load: mean=143.4ms, total=143.4ms, count=1, min=143.4ms, max=143.4ms
+  scene_init: mean=141.3ms, total=141.3ms, count=1, min=141.3ms, max=141.3ms
+  asset_install_grasps: mean=78.6ms, total=78.6ms, count=1, min=78.6ms, max=78.6ms
+  asset_install_objects: mean=40.0ms, total=40.0ms, count=1, min=40.0ms, max=40.0ms
+  compile_aux_objects: mean=39.7ms, total=39.7ms, count=1, min=39.7ms, max=39.7ms
+  compile_aux_policy_objects: mean=39.6ms, total=39.6ms, count=1, min=39.6ms, max=39.6ms
+  scene_randomize: mean=2.2ms, total=39.5ms, count=18, min=1.1ms, max=3.4ms
+  asset_install_scene: mean=25.3ms, total=25.3ms, count=1, min=25.3ms, max=25.3ms
+  mj_forward_sync: mean=460.8us, total=8.3ms, count=18, min=0.4ms, max=0.6ms
+  compile_robot_add: mean=6.3ms, total=6.3ms, count=1, min=6.3ms, max=6.3ms
+  policy_setup: mean=22.0us, 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]
+05/10 23:25:23 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/10 23:25:23 INFO: Success count: 13, Total count: 13	[pipeline.py: 1491]
+05/10 23:25:23 INFO: Success rate: 100.00%	[pipeline.py: 1492]
+05/10 23:25:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 23:25:27 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010	[save_utils.py: 785]
+05/10 23:25:27 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 12.73s (batch: 4.12s, save: 8.61s)	[pipeline.py: 300]
+05/10 23:25:27 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=1.19s:
+  episode_total: mean=98.94s, total=296.82s, count=3, min=3046.0ms, max=198251.2ms
+  sensor_polling: mean=480.3ms, total=219.51s, count=457, min=402.1ms, max=1083.7ms
+  physics_step: mean=22.9ms, total=10.48s, count=457, min=13.6ms, max=99.8ms
+  save_trajectories: mean=8.61s, total=8.61s, count=1, min=8612.8ms, max=8612.8ms
+  save_batch_prep: mean=4.12s, total=4.12s, count=1, min=4119.8ms, max=4119.8ms
+  task_sampling: mean=398.0ms, total=1.19s, count=3, min=365.6ms, max=426.5ms
+  task_specific_sample: mean=394.9ms, total=1.18s, count=3, min=362.4ms, max=422.9ms
+  scene_randomize: mean=1.6ms, total=4.9ms, count=3, min=1.2ms, max=2.3ms
+  mj_forward_sync: mean=446.0us, total=1.3ms, count=3, min=0.4ms, max=0.5ms
+  policy_setup: mean=19.4us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 23:25:29 WARNING: [Worker 0] No trajectory data to save for chunk_010	[pipeline.py: 234]
+05/10 23:25:29 WARNING: [Worker 0] No trajectory data to save for chunk_010	[pipeline.py: 234]
+05/10 23:25:29 INFO: [Worker 0] Worker 0 completed house 1: 13/13 successful episodes	[pipeline.py: 1323]
+05/10 23:25:29 INFO: [Worker 0] [PROFILE] House 1 complete: 13/13 successful, 13 episodes, total_time=5190.12s
+  House averages:
+  episode_total: mean=157.10s, total=2827.74s, count=18, min=2897.8ms, max=214571.8ms
+  sensor_polling: mean=451.5ms, total=2063.48s, count=4570, min=373.8ms, max=1083.7ms
+  save_trajectories: mean=9.29s, total=120.79s, count=13, min=7491.0ms, max=11526.4ms
+  physics_step: mean=21.1ms, total=96.53s, count=4570, min=12.4ms, max=133.3ms
+  save_batch_prep: mean=4.13s, total=53.67s, count=13, min=3630.6ms, max=4891.6ms
+  task_sampling: mean=648.3ms, total=11.67s, count=18, min=358.0ms, max=3811.5ms
+  task_specific_sample: mean=465.2ms, total=8.37s, count=18, min=355.2ms, max=732.6ms
+  scene_load: mean=3.23s, total=3.23s, count=1, min=3230.3ms, max=3230.3ms
+  scene_env_create: mean=1.86s, total=1.86s, count=1, min=1859.7ms, max=1859.7ms
+  scene_compile: mean=1.25s, total=1.25s, count=1, min=1247.8ms, max=1247.8ms
+  compile_mujoco: mean=734.6ms, total=734.6ms, count=1, min=734.6ms, max=734.6ms
+  compile_xml_load: mean=419.7ms, total=419.7ms, count=1, min=419.7ms, max=419.7ms
+  scene_init: mean=70.9ms, total=70.9ms, count=1, min=70.9ms, max=70.9ms
+  compile_aux_objects: mean=60.1ms, total=60.1ms, count=1, min=60.1ms, max=60.1ms
+  compile_aux_policy_objects: mean=60.1ms, total=60.1ms, count=1, min=60.1ms, max=60.1ms
+  scene_asset_install: mean=51.6ms, total=51.6ms, count=1, min=51.6ms, max=51.6ms
+  scene_randomize: mean=2.2ms, total=38.9ms, count=18, min=1.1ms, max=3.2ms
+  asset_install_grasps: mean=37.7ms, total=37.7ms, count=1, min=37.7ms, max=37.7ms
+  compile_robot_add: mean=24.2ms, total=24.2ms, count=1, min=24.2ms, max=24.2ms
+  asset_install_objects: mean=11.0ms, total=11.0ms, count=1, min=11.0ms, max=11.0ms
+  mj_forward_sync: mean=462.0us, total=8.3ms, count=18, min=0.4ms, max=0.6ms
+  asset_install_scene: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  policy_setup: mean=23.3us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/10 23:25:29 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/10 23:25:29 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 13 episodes, total_time=5190.12s
+  Worker averages:
+  episode_total: mean=157.10s, total=2827.74s, count=18, min=2897.8ms, max=214571.8ms
+  sensor_polling: mean=451.5ms, total=2063.48s, count=4570, min=373.8ms, max=1083.7ms
+  save_trajectories: mean=9.29s, total=120.79s, count=13, min=7491.0ms, max=11526.4ms
+  physics_step: mean=21.1ms, total=96.53s, count=4570, min=12.4ms, max=133.3ms
+  save_batch_prep: mean=4.13s, total=53.67s, count=13, min=3630.6ms, max=4891.6ms
+  task_sampling: mean=648.3ms, total=11.67s, count=18, min=358.0ms, max=3811.5ms
+  task_specific_sample: mean=465.2ms, total=8.37s, count=18, min=355.2ms, max=732.6ms
+  scene_load: mean=3.23s, total=3.23s, count=1, min=3230.3ms, max=3230.3ms
+  scene_env_create: mean=1.86s, total=1.86s, count=1, min=1859.7ms, max=1859.7ms
+  scene_compile: mean=1.25s, total=1.25s, count=1, min=1247.8ms, max=1247.8ms
+  compile_mujoco: mean=734.6ms, total=734.6ms, count=1, min=734.6ms, max=734.6ms
+  compile_xml_load: mean=419.7ms, total=419.7ms, count=1, min=419.7ms, max=419.7ms
+  scene_init: mean=70.9ms, total=70.9ms, count=1, min=70.9ms, max=70.9ms
+  compile_aux_objects: mean=60.1ms, total=60.1ms, count=1, min=60.1ms, max=60.1ms
+  compile_aux_policy_objects: mean=60.1ms, total=60.1ms, count=1, min=60.1ms, max=60.1ms
+  scene_asset_install: mean=51.6ms, total=51.6ms, count=1, min=51.6ms, max=51.6ms
+  scene_randomize: mean=2.2ms, total=38.9ms, count=18, min=1.1ms, max=3.2ms
+  asset_install_grasps: mean=37.7ms, total=37.7ms, count=1, min=37.7ms, max=37.7ms
+  compile_robot_add: mean=24.2ms, total=24.2ms, count=1, min=24.2ms, max=24.2ms
+  asset_install_objects: mean=11.0ms, total=11.0ms, count=1, min=11.0ms, max=11.0ms
+  mj_forward_sync: mean=462.0us, total=8.3ms, count=18, min=0.4ms, max=0.6ms
+  asset_install_scene: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  policy_setup: mean=23.3us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/10 23:25:30 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 23:25:31 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/10 23:25:31 INFO: Success count: 13, Total count: 13	[pipeline.py: 1491]
+05/10 23:25:31 INFO: Success rate: 100.00%	[pipeline.py: 1492]
+05/10 23:25:34 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:26:51 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 23:26:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:26:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:26:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:26:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:26:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:27:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:27:01 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 23:27:17 INFO: [Worker 0] Saved videos eagerly for episode 14 to /scr/ravenh/fridge_7/sim_chunks/chunk_010	[pipeline.py: 1174]
+05/10 23:27:17 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 23:27:17 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 23:27:27 INFO: [Worker 0] Saved videos eagerly for episode 14 to /scr/ravenh/fridge_7/sim_chunks/chunk_010	[pipeline.py: 1174]
+05/10 23:27:27 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 23:27:27 INFO: [Worker 0] Preparing episode data: 300 timesteps	[save_utils.py: 278]
+05/10 23:27:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 23:27:29 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010	[save_utils.py: 785]
+05/10 23:27:29 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 12.36s (batch: 4.17s, save: 8.20s)	[pipeline.py: 300]
+05/10 23:27:30 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.39s:
+  episode_total: mean=203.64s, total=203.64s, count=1, min=203643.6ms, max=203643.6ms
+  sensor_polling: mean=506.1ms, total=151.83s, count=300, min=421.0ms, max=797.5ms
+  save_trajectories: mean=8.20s, total=8.20s, count=1, min=8196.1ms, max=8196.1ms
+  physics_step: mean=23.8ms, total=7.13s, count=300, min=16.8ms, max=73.6ms
+  save_batch_prep: mean=4.17s, total=4.17s, count=1, min=4165.9ms, max=4165.9ms
+  task_sampling: mean=387.3ms, total=387.3ms, count=1, min=387.3ms, max=387.3ms
+  task_specific_sample: mean=383.0ms, total=383.0ms, count=1, min=383.0ms, max=383.0ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=530.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=19.6us, 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]
+05/10 23:27:32 WARNING: [Worker 0] No trajectory data to save for chunk_010	[pipeline.py: 234]
+05/10 23:27:32 WARNING: [Worker 0] No trajectory data to save for chunk_010	[pipeline.py: 234]
+05/10 23:27:32 INFO: [Worker 0] Worker 0 completed house 1: 15/15 successful episodes	[pipeline.py: 1323]
+05/10 23:27:32 INFO: [Worker 0] [PROFILE] House 1 complete: 15/15 successful, 15 episodes, total_time=5380.86s
+  House averages:
+  episode_total: mean=163.93s, total=2950.77s, count=18, min=1904.3ms, max=210287.0ms
+  sensor_polling: mean=455.8ms, total=2113.06s, count=4636, min=383.4ms, max=995.2ms
+  save_trajectories: mean=8.66s, total=129.92s, count=15, min=7647.3ms, max=11488.3ms
+  physics_step: mean=21.2ms, total=98.23s, count=4636, min=11.9ms, max=74.1ms
+  save_batch_prep: mean=4.07s, total=60.98s, count=15, min=3841.3ms, max=5230.0ms
+  task_sampling: mean=663.8ms, total=11.95s, count=18, min=329.9ms, max=3601.2ms
+  task_specific_sample: mean=493.1ms, total=8.88s, count=18, min=327.2ms, max=856.7ms
+  scene_load: mean=3.01s, total=3.01s, count=1, min=3008.3ms, max=3008.3ms
+  scene_env_create: mean=1.96s, total=1.96s, count=1, min=1964.4ms, max=1964.4ms
+  scene_compile: mean=911.5ms, total=911.5ms, count=1, min=911.5ms, max=911.5ms
+  compile_mujoco: mean=670.1ms, total=670.1ms, count=1, min=670.1ms, max=670.1ms
+  compile_xml_load: mean=148.2ms, total=148.2ms, count=1, min=148.2ms, max=148.2ms
+  scene_init: mean=90.1ms, total=90.1ms, count=1, min=90.1ms, max=90.1ms
+  compile_aux_objects: mean=59.8ms, total=59.8ms, count=1, min=59.8ms, max=59.8ms
+  compile_aux_policy_objects: mean=59.8ms, total=59.8ms, count=1, min=59.8ms, max=59.8ms
+  scene_asset_install: mean=42.1ms, total=42.1ms, count=1, min=42.1ms, max=42.1ms
+  scene_randomize: mean=2.2ms, total=40.3ms, count=18, min=1.3ms, max=3.0ms
+  asset_install_grasps: mean=29.5ms, total=29.5ms, count=1, min=29.5ms, max=29.5ms
+  compile_robot_add: mean=24.5ms, total=24.5ms, count=1, min=24.5ms, max=24.5ms
+  asset_install_objects: mean=9.1ms, total=9.1ms, count=1, min=9.1ms, max=9.1ms
+  mj_forward_sync: mean=474.7us, total=8.5ms, 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=19.4us, total=0.3ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/10 23:27:32 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/10 23:27:32 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 15 episodes, total_time=5380.86s
+  Worker averages:
+  episode_total: mean=163.93s, total=2950.77s, count=18, min=1904.3ms, max=210287.0ms
+  sensor_polling: mean=455.8ms, total=2113.06s, count=4636, min=383.4ms, max=995.2ms
+  save_trajectories: mean=8.66s, total=129.92s, count=15, min=7647.3ms, max=11488.3ms
+  physics_step: mean=21.2ms, total=98.23s, count=4636, min=11.9ms, max=74.1ms
+  save_batch_prep: mean=4.07s, total=60.98s, count=15, min=3841.3ms, max=5230.0ms
+  task_sampling: mean=663.8ms, total=11.95s, count=18, min=329.9ms, max=3601.2ms
+  task_specific_sample: mean=493.1ms, total=8.88s, count=18, min=327.2ms, max=856.7ms
+  scene_load: mean=3.01s, total=3.01s, count=1, min=3008.3ms, max=3008.3ms
+  scene_env_create: mean=1.96s, total=1.96s, count=1, min=1964.4ms, max=1964.4ms
+  scene_compile: mean=911.5ms, total=911.5ms, count=1, min=911.5ms, max=911.5ms
+  compile_mujoco: mean=670.1ms, total=670.1ms, count=1, min=670.1ms, max=670.1ms
+  compile_xml_load: mean=148.2ms, total=148.2ms, count=1, min=148.2ms, max=148.2ms
+  scene_init: mean=90.1ms, total=90.1ms, count=1, min=90.1ms, max=90.1ms
+  compile_aux_objects: mean=59.8ms, total=59.8ms, count=1, min=59.8ms, max=59.8ms
+  compile_aux_policy_objects: mean=59.8ms, total=59.8ms, count=1, min=59.8ms, max=59.8ms
+  scene_asset_install: mean=42.1ms, total=42.1ms, count=1, min=42.1ms, max=42.1ms
+  scene_randomize: mean=2.2ms, total=40.3ms, count=18, min=1.3ms, max=3.0ms
+  asset_install_grasps: mean=29.5ms, total=29.5ms, count=1, min=29.5ms, max=29.5ms
+  compile_robot_add: mean=24.5ms, total=24.5ms, count=1, min=24.5ms, max=24.5ms
+  asset_install_objects: mean=9.1ms, total=9.1ms, count=1, min=9.1ms, max=9.1ms
+  mj_forward_sync: mean=474.7us, total=8.5ms, 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=19.4us, total=0.3ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/10 23:27:34 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/10 23:27:34 INFO: Success count: 15, Total count: 15	[pipeline.py: 1491]
+05/10 23:27:34 INFO: Success rate: 100.00%	[pipeline.py: 1492]
+05/10 23:27:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 23:27:40 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010	[save_utils.py: 785]
+05/10 23:27:40 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 13.38s (batch: 3.96s, save: 9.42s)	[pipeline.py: 300]
+05/10 23:27:41 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.42s:
+  episode_total: mean=209.29s, total=209.29s, count=1, min=209286.3ms, max=209286.3ms
+  sensor_polling: mean=503.8ms, total=150.64s, count=299, min=409.7ms, max=1106.0ms
+  save_trajectories: mean=9.42s, total=9.42s, count=1, min=9421.0ms, max=9421.0ms
+  physics_step: mean=24.4ms, total=7.29s, count=299, min=14.3ms, max=95.4ms
+  save_batch_prep: mean=3.96s, total=3.96s, count=1, min=3960.0ms, max=3960.0ms
+  task_sampling: mean=420.9ms, total=420.9ms, count=1, min=420.9ms, max=420.9ms
+  task_specific_sample: mean=416.6ms, total=416.6ms, count=1, min=416.6ms, max=416.6ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=555.0us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=18.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 23:27:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 23:27:43 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 23:27:43 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 23:27:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:27:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:27:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:27:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:27:43 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 23:27:43 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]
+05/10 23:27:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 23:27:43 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]
+05/10 23:27:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 23:27:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 23:27:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.079408m	[env.py: 870]
+05/10 23:27:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 23:27:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 23:27:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 23:27:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.66580879  0.69928241  0.07940835] yaw=-159.2deg	[env.py: 1019]
+05/10 23:27:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 23:27:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.0228633   0.87934228  0.07940835] yaw=-150.7deg	[env.py: 1019]
+05/10 23:27:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 23:27:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -52.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:27:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 76.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:27:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.7741667   0.03092141  0.07940835] yaw=154.0deg	[env.py: 1019]
+05/10 23:27:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 23:27:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 23:27:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=142.4ms, total=142.4ms	[env.py: 1075]
+05/10 23:27:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.666, 0.699, 0.079)	[env.py: 1079]
+05/10 23:27:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -159.2 deg	[env.py: 1082]
+05/10 23:27:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.059m	[env.py: 1086]
+05/10 23:27:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:27:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:27:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:27:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:27:43 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 23:27:43 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/10 23:27:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.111s	[base_object_manipulation_planner_policy.py: 377]
+05/10 23:27:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 23:27:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 23:27:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.088s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 23:27:46 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.886s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 23:27:46 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.639[m] 93.241[deg]	[grasp_sample.py: 539]
+05/10 23:27:46 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 23:27:46 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 23:27:46 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:28:47 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:28:57 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 23:29:01 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:30:14 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 23:30:37 INFO: [Worker 0] Saved videos eagerly for episode 15 to /scr/ravenh/fridge_7/sim_chunks/chunk_010	[pipeline.py: 1174]
+05/10 23:30:37 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 23:30:37 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 23:30:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 23:30:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010	[save_utils.py: 785]
+05/10 23:30:51 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 13.85s (batch: 4.91s, save: 8.94s)	[pipeline.py: 300]
+05/10 23:30:52 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.43s:
+  episode_total: mean=188.47s, total=188.47s, count=1, min=188466.9ms, max=188466.9ms
+  sensor_polling: mean=463.0ms, total=138.91s, count=300, min=399.4ms, max=758.3ms
+  save_trajectories: mean=8.94s, total=8.94s, count=1, min=8939.9ms, max=8939.9ms
+  physics_step: mean=22.1ms, total=6.64s, count=300, min=14.2ms, max=76.6ms
+  save_batch_prep: mean=4.91s, total=4.91s, count=1, min=4914.4ms, max=4914.4ms
+  task_sampling: mean=428.2ms, total=428.2ms, count=1, min=428.2ms, max=428.2ms
+  task_specific_sample: mean=423.5ms, total=423.5ms, count=1, min=423.5ms, max=423.5ms
+  scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
+  mj_forward_sync: mean=521.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=17.5us, 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]
+05/10 23:30:53 WARNING: [Worker 0] No trajectory data to save for chunk_010	[pipeline.py: 234]
+05/10 23:30:53 WARNING: [Worker 0] No trajectory data to save for chunk_010	[pipeline.py: 234]
+05/10 23:30:53 INFO: [Worker 0] Worker 0 completed house 1: 16/16 successful episodes	[pipeline.py: 1323]
+05/10 23:30:53 INFO: [Worker 0] [PROFILE] House 1 complete: 16/16 successful, 16 episodes, total_time=5754.47s
+  House averages:
+  episode_total: mean=175.08s, total=3151.51s, count=18, min=4564.0ms, max=256257.0ms
+  sensor_polling: mean=457.1ms, total=2263.39s, count=4952, min=387.2ms, max=1106.0ms
+  save_trajectories: mean=8.88s, total=142.01s, count=16, min=7631.4ms, max=11406.9ms
+  physics_step: mean=21.6ms, total=106.93s, count=4952, min=12.4ms, max=105.0ms
+  save_batch_prep: mean=4.09s, total=65.49s, count=16, min=3868.7ms, max=4914.4ms
+  task_sampling: mean=600.5ms, total=10.81s, count=18, min=307.0ms, max=3555.9ms
+  task_specific_sample: mean=446.4ms, total=8.04s, count=18, min=304.1ms, max=850.2ms
+  scene_load: mean=2.70s, total=2.70s, count=1, min=2702.9ms, max=2702.9ms
+  scene_env_create: mean=1.73s, total=1.73s, count=1, min=1729.4ms, max=1729.4ms
+  scene_compile: mean=746.1ms, total=746.1ms, count=1, min=746.1ms, max=746.1ms
+  compile_mujoco: mean=513.8ms, total=513.8ms, count=1, min=513.8ms, max=513.8ms
+  scene_init: mean=188.0ms, total=188.0ms, count=1, min=188.0ms, max=188.0ms
+  compile_xml_load: mean=158.0ms, total=158.0ms, count=1, min=158.0ms, max=158.0ms
+  compile_aux_objects: mean=56.0ms, total=56.0ms, count=1, min=56.0ms, max=56.0ms
+  compile_aux_policy_objects: mean=56.0ms, total=56.0ms, count=1, min=56.0ms, max=56.0ms
+  scene_randomize: mean=2.6ms, total=46.1ms, count=18, min=1.1ms, max=6.0ms
+  scene_asset_install: mean=39.2ms, total=39.2ms, count=1, min=39.2ms, max=39.2ms
+  asset_install_grasps: mean=27.9ms, total=27.9ms, count=1, min=27.9ms, max=27.9ms
+  compile_robot_add: mean=9.5ms, total=9.5ms, count=1, min=9.5ms, max=9.5ms
+  asset_install_objects: mean=8.9ms, total=8.9ms, count=1, min=8.9ms, max=8.9ms
+  mj_forward_sync: mean=451.7us, total=8.1ms, count=18, min=0.4ms, max=0.6ms
+  asset_install_scene: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  policy_setup: mean=21.0us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/10 23:30:53 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/10 23:30:53 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 16 episodes, total_time=5754.47s
+  Worker averages:
+  episode_total: mean=175.08s, total=3151.51s, count=18, min=4564.0ms, max=256257.0ms
+  sensor_polling: mean=457.1ms, total=2263.39s, count=4952, min=387.2ms, max=1106.0ms
+  save_trajectories: mean=8.88s, total=142.01s, count=16, min=7631.4ms, max=11406.9ms
+  physics_step: mean=21.6ms, total=106.93s, count=4952, min=12.4ms, max=105.0ms
+  save_batch_prep: mean=4.09s, total=65.49s, count=16, min=3868.7ms, max=4914.4ms
+  task_sampling: mean=600.5ms, total=10.81s, count=18, min=307.0ms, max=3555.9ms
+  task_specific_sample: mean=446.4ms, total=8.04s, count=18, min=304.1ms, max=850.2ms
+  scene_load: mean=2.70s, total=2.70s, count=1, min=2702.9ms, max=2702.9ms
+  scene_env_create: mean=1.73s, total=1.73s, count=1, min=1729.4ms, max=1729.4ms
+  scene_compile: mean=746.1ms, total=746.1ms, count=1, min=746.1ms, max=746.1ms
+  compile_mujoco: mean=513.8ms, total=513.8ms, count=1, min=513.8ms, max=513.8ms
+  scene_init: mean=188.0ms, total=188.0ms, count=1, min=188.0ms, max=188.0ms
+  compile_xml_load: mean=158.0ms, total=158.0ms, count=1, min=158.0ms, max=158.0ms
+  compile_aux_objects: mean=56.0ms, total=56.0ms, count=1, min=56.0ms, max=56.0ms
+  compile_aux_policy_objects: mean=56.0ms, total=56.0ms, count=1, min=56.0ms, max=56.0ms
+  scene_randomize: mean=2.6ms, total=46.1ms, count=18, min=1.1ms, max=6.0ms
+  scene_asset_install: mean=39.2ms, total=39.2ms, count=1, min=39.2ms, max=39.2ms
+  asset_install_grasps: mean=27.9ms, total=27.9ms, count=1, min=27.9ms, max=27.9ms
+  compile_robot_add: mean=9.5ms, total=9.5ms, count=1, min=9.5ms, max=9.5ms
+  asset_install_objects: mean=8.9ms, total=8.9ms, count=1, min=8.9ms, max=8.9ms
+  mj_forward_sync: mean=451.7us, total=8.1ms, count=18, min=0.4ms, max=0.6ms
+  asset_install_scene: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  policy_setup: mean=21.0us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/10 23:30:55 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/10 23:30:55 INFO: Success count: 16, Total count: 16	[pipeline.py: 1491]
+05/10 23:30:55 INFO: Success rate: 100.00%	[pipeline.py: 1492]
diff --git a/fridge_7/chunk_010/shard_1_of_4.log b/fridge_7/chunk_010/shard_1_of_4.log
index db2bf68ee74e3f193b761f50e2514fb43e32cf86..4eb64ea3b32cbb8fe26fa0b1cba3d202389129ee 100644
--- a/fridge_7/chunk_010/shard_1_of_4.log
+++ b/fridge_7/chunk_010/shard_1_of_4.log
@@ -1176,3 +1176,528 @@ ValueError: IK failed for pregrasp pose
 
 [05/10 23:05:07 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
 [05/10 23:05:07 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 23:06:02 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 23:06:11 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 23:06:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 23:07:35 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True
+[05/10 23:08:01 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_010
+[05/10 23:08:01 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_010 batch 1/4: 1 episodes
+[05/10 23:08:01 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 23:08:14 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 23:08:14 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010
+[05/10 23:08:14 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_010 in 13.19s (batch: 4.02s, save: 9.17s)
+[05/10 23:08:15 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 11 house 1 success=True episode_total=0.86s:
+  episode_total: mean=191.45s, total=191.45s, count=1, min=191448.9ms, max=191448.9ms
+  sensor_polling: mean=465.8ms, total=139.73s, count=300, min=389.7ms, max=906.0ms
+  save_trajectories: mean=9.17s, total=9.17s, count=1, min=9172.0ms, max=9172.0ms
+  physics_step: mean=21.1ms, total=6.34s, count=300, min=16.9ms, max=47.2ms
+  save_batch_prep: mean=4.02s, total=4.02s, count=1, min=4018.1ms, max=4018.1ms
+  task_sampling: mean=861.0ms, total=861.0ms, count=1, min=861.0ms, max=861.0ms
+  task_specific_sample: mean=856.7ms, total=856.7ms, count=1, min=856.7ms, max=856.7ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=529.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=18.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 23:08:17 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 23:08:17 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 23:08:17 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 23:08:17 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:08:17 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:08:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:08:17 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:08:17 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 23:08:17 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 23:08:17 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 23:08:17 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.100m, effective arm-mount z=0.960m (base_body_z=0.100m, pedestal_h=0.860m)
+[05/10 23:08:17 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 23:08:17 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 23:08:17 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.099842m
+[05/10 23:08:17 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 23:08:17 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 23:08:17 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 23:08:17 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.81496537  0.71384348  0.09984246] yaw=-172.7deg
+[05/10 23:08:17 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 23:08:17 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.8914515   0.87005433  0.09984246] yaw=-146.4deg
+[05/10 23:08:17 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 23:08:17 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.03283366  1.31754054  0.09984246] yaw=-120.0deg
+[05/10 23:08:17 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 23:08:17 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 23:08:17 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=246.9ms, total=246.9ms
+[05/10 23:08:17 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.815, 0.714, 0.100)
+[05/10 23:08:17 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -172.7 deg
+[05/10 23:08:17 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.917m
+[05/10 23:08:17 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:08:17 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:08:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:08:17 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:08:18 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 23:08:18 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 12/18 collected=0/3
+[05/10 23:08:18 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.132s
+[05/10 23:08:18 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 23:08:18 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 23:08:18 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps
+[05/10 23:08:19 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.112s, found feasible grasp: True
+[05/10 23:08:19 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.455[m] 80.364[deg]
+[05/10 23:08:19 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 23:08:19 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 23:08:19 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 23:09:01 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 23:09:10 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 23:09:14 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 23:10:42 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True
+[05/10 23:11:08 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_010
+[05/10 23:11:08 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_010 batch 1/4: 1 episodes
+[05/10 23:11:08 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 23:11:20 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 23:11:20 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010
+[05/10 23:11:20 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_010 in 12.31s (batch: 3.99s, save: 8.32s)
+[05/10 23:11:21 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 12 house 1 success=True episode_total=0.58s:
+  episode_total: mean=183.75s, total=183.75s, count=1, min=183745.0ms, max=183745.0ms
+  sensor_polling: mean=445.5ms, total=133.65s, count=300, min=383.4ms, max=802.9ms
+  save_trajectories: mean=8.32s, total=8.32s, count=1, min=8316.6ms, max=8316.6ms
+  physics_step: mean=20.5ms, total=6.15s, count=300, min=16.4ms, max=63.8ms
+  save_batch_prep: mean=3.99s, total=3.99s, count=1, min=3990.7ms, max=3990.7ms
+  task_sampling: mean=583.2ms, total=583.2ms, count=1, min=583.2ms, max=583.2ms
+  task_specific_sample: mean=579.3ms, total=579.3ms, count=1, min=579.3ms, max=579.3ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=454.2us, 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
+[05/10 23:11:22 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 23:11:22 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 23:11:22 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 23:11:22 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:11:22 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:11:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:11:22 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:11:22 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 23:11:22 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 23:11:22 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 23:11:22 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.035m, effective arm-mount z=0.895m (base_body_z=0.035m, pedestal_h=0.860m)
+[05/10 23:11:22 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 23:11:22 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 23:11:22 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034532m
+[05/10 23:11:22 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 23:11:22 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 23:11:22 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 23:11:22 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -80.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:11:22 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.90041088  0.87476668  0.03453159] yaw=-147.9deg
+[05/10 23:11:22 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 23:11:22 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -56.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:11:22 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -160.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:11:22 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -79.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:11:22 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.9944639   0.91848741  0.03453159] yaw=-143.3deg
+[05/10 23:11:22 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 23:11:22 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.87122593  0.50159659  0.03453159] yaw=-183.1deg
+[05/10 23:11:22 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 23:11:22 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 23:11:22 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=183.1ms, total=183.1ms
+[05/10 23:11:22 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.900, 0.875, 0.035)
+[05/10 23:11:22 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -147.9 deg
+[05/10 23:11:22 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.893m
+[05/10 23:11:22 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:11:22 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:11:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:11:22 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:11:23 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 23:11:23 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 13/18 collected=0/3
+[05/10 23:11:23 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.089s
+[05/10 23:11:23 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 23:11:23 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 23:11:23 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps
+[05/10 23:11:23 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.514s, found feasible grasp: True
+[05/10 23:11:23 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.458[m] 83.721[deg]
+[05/10 23:11:23 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 23:11:24 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 23:11:24 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 23:12:09 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 23:12:19 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 23:12:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 23:13:49 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True
+[05/10 23:14:15 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_010
+[05/10 23:14:15 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_010 batch 1/4: 1 episodes
+[05/10 23:14:15 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 23:14:27 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 23:14:27 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010
+[05/10 23:14:27 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_010 in 11.99s (batch: 3.87s, save: 8.12s)
+[05/10 23:14:27 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 13 house 1 success=True episode_total=0.56s:
+  episode_total: mean=184.89s, total=184.89s, count=1, min=184890.8ms, max=184890.8ms
+  sensor_polling: mean=454.0ms, total=136.19s, count=300, min=389.4ms, max=795.0ms
+  save_trajectories: mean=8.12s, total=8.12s, count=1, min=8118.7ms, max=8118.7ms
+  physics_step: mean=20.9ms, total=6.26s, count=300, min=16.9ms, max=61.7ms
+  save_batch_prep: mean=3.87s, total=3.87s, count=1, min=3868.6ms, max=3868.6ms
+  task_sampling: mean=562.1ms, total=562.1ms, count=1, min=562.1ms, max=562.1ms
+  task_specific_sample: mean=558.5ms, total=558.5ms, count=1, min=558.5ms, max=558.5ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=375.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=20.6us, 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
+[05/10 23:14:29 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 23:14:29 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 23:14:29 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 23:14:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:14:29 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:14:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:14:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:14:29 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 23:14:29 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 23:14:29 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 23:14:29 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.055m, effective arm-mount z=0.915m (base_body_z=0.055m, pedestal_h=0.860m)
+[05/10 23:14:29 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 23:14:29 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 23:14:29 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.055336m
+[05/10 23:14:29 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 23:14:29 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 23:14:29 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 23:14:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 117.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:14:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 112.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:14:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 107.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:14:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 113.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:14:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 105.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:14:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.68897646  0.49298975  0.05533634] yaw=-174.4deg
+[05/10 23:14:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 23:14:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.00333088  0.19104732  0.05533634] yaw=163.0deg
+[05/10 23:14:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 23:14:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.92447315  0.65035494  0.05533634] yaw=-166.0deg
+[05/10 23:14:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 23:14:29 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 23:14:29 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=264.2ms, total=264.2ms
+[05/10 23:14:29 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.689, 0.493, 0.055)
+[05/10 23:14:29 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -174.4 deg
+[05/10 23:14:29 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.013m
+[05/10 23:14:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:14:29 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:14:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:14:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:14:29 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 23:14:29 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 14/18 collected=0/3
+[05/10 23:14:29 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.082s
+[05/10 23:14:29 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 23:14:29 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 23:14:29 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps
+[05/10 23:14:30 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.602s, found feasible grasp: True
+[05/10 23:14:30 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.582[m] 90.856[deg]
+[05/10 23:14:30 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 23:14:30 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 23:14:30 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 23:15:29 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 23:15:38 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 23:15:42 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 23:16:55 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True
+[05/10 23:17:20 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_010
+[05/10 23:17:20 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_010 batch 1/4: 1 episodes
+[05/10 23:17:20 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 23:17:32 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 23:17:32 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010
+[05/10 23:17:32 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_010 in 12.18s (batch: 4.06s, save: 8.12s)
+[05/10 23:17:33 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 14 house 1 success=True episode_total=0.54s:
+  episode_total: mean=184.29s, total=184.29s, count=1, min=184290.9ms, max=184290.9ms
+  sensor_polling: mean=452.6ms, total=135.77s, count=300, min=398.0ms, max=848.9ms
+  save_trajectories: mean=8.12s, total=8.12s, count=1, min=8119.0ms, max=8119.0ms
+  physics_step: mean=21.9ms, total=6.57s, count=300, min=14.1ms, max=49.5ms
+  save_batch_prep: mean=4.06s, total=4.06s, count=1, min=4058.3ms, max=4058.3ms
+  task_sampling: mean=541.6ms, total=541.6ms, count=1, min=541.6ms, max=541.6ms
+  task_specific_sample: mean=538.2ms, total=538.2ms, count=1, min=538.2ms, max=538.2ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=370.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 23:17:34 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 23:17:34 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 23:17:34 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 23:17:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:17:34 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:17:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:17:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:17:34 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 23:17:34 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 23:17:34 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 23:17:34 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.044m, effective arm-mount z=0.904m (base_body_z=0.044m, pedestal_h=0.860m)
+[05/10 23:17:34 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 23:17:34 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 23:17:34 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.043583m
+[05/10 23:17:34 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 23:17:34 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 23:17:34 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 23:17:34 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 131.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:17:35 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 57.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:17:35 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.77045905  0.53734807  0.04358324] yaw=-166.5deg
+[05/10 23:17:35 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 23:17:35 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.11652541  1.14985314  0.04358324] yaw=-132.8deg
+[05/10 23:17:35 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 23:17:35 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 118.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:17:35 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 23:17:35 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=187.4ms, total=187.4ms
+[05/10 23:17:35 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.770, 0.537, 0.044)
+[05/10 23:17:35 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -166.5 deg
+[05/10 23:17:35 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.934m
+[05/10 23:17:35 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:17:35 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:17:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:17:35 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:17:35 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 23:17:35 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 15/18 collected=0/3
+[05/10 23:17:35 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.071s
+[05/10 23:17:35 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 23:17:35 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 23:17:35 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps
+[05/10 23:17:35 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.473s, found feasible grasp: True
+[05/10 23:17:35 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.475[m] 85.668[deg]
+[05/10 23:17:36 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 23:17:36 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 23:17:36 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 23:18:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 23:18:33 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 23:18:37 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 23:19:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 23:19:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 23:19:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 23:19:49 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 23:19:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 23:19:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 23:19:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 23:19:55 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 23:19:55 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 23:19:55 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 23:19:55 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 23:19:55 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 23:19:55 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 76 non-colliding grasps
+[05/10 23:19:56 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 0.390s, found feasible grasp: True
+[05/10 23:19:56 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.490[deg]
+[05/10 23:19:56 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 23:19:56 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 23:19:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 23:20:06 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 23:20:12 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True
+[05/10 23:20:37 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_7/sim_chunks/chunk_010
+[05/10 23:20:37 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_010 batch 1/4: 1 episodes
+[05/10 23:20:37 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 23:20:51 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 23:20:51 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010
+[05/10 23:20:51 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_010 in 14.17s (batch: 4.05s, save: 10.12s)
+[05/10 23:20:52 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 15 house 1 success=True episode_total=0.44s:
+  episode_total: mean=197.26s, total=197.26s, count=1, min=197260.0ms, max=197260.0ms
+  sensor_polling: mean=456.7ms, total=137.02s, count=300, min=390.7ms, max=889.5ms
+  save_trajectories: mean=10.12s, total=10.12s, count=1, min=10121.1ms, max=10121.1ms
+  physics_step: mean=20.2ms, total=6.06s, count=300, min=16.9ms, max=48.2ms
+  save_batch_prep: mean=4.05s, total=4.05s, count=1, min=4045.1ms, max=4045.1ms
+  task_sampling: mean=441.2ms, total=441.2ms, count=1, min=441.2ms, max=441.2ms
+  task_specific_sample: mean=437.7ms, total=437.7ms, count=1, min=437.7ms, max=437.7ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=365.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 23:20:53 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 23:20:53 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 23:20:53 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 23:20:53 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:20:53 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:20:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:20:53 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:20:53 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 23:20:53 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 23:20:53 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 23:20:53 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.013m, effective arm-mount z=0.873m (base_body_z=0.013m, pedestal_h=0.860m)
+[05/10 23:20:53 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 23:20:53 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 23:20:53 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.013231m
+[05/10 23:20:53 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 23:20:53 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 23:20:53 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 23:20:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -160.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:20:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 54.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:20:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 89.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:20:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 118.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:20:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -61.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:20:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.70591604  0.82921257  0.01323072] yaw=-169.5deg
+[05/10 23:20:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 23:20:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.6738052   0.13034528  0.01323072] yaw=153.3deg
+[05/10 23:20:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 23:20:54 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 23:20:54 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=457.6ms, total=457.6ms
+[05/10 23:20:54 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.706, 0.829, 0.013)
+[05/10 23:20:54 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -169.5 deg
+[05/10 23:20:54 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.055m
+[05/10 23:20:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:20:54 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:20:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:20:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:20:54 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 23:20:54 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 16/18 collected=0/3
+[05/10 23:20:54 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.098s
+[05/10 23:20:54 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 23:20:54 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 23:20:54 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps
+[05/10 23:20:56 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.052s, found feasible grasp: True
+[05/10 23:20:56 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.637[m] 92.865[deg]
+[05/10 23:20:56 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 23:20:57 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 23:20:57 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 23:22:01 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 23:22:10 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 23:22:14 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 23:23:27 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True
+[05/10 23:23:50 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 13 to /scr/ravenh/fridge_7/sim_chunks/chunk_010
+[05/10 23:23:50 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_010 batch 1/4: 1 episodes
+[05/10 23:23:50 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 23:24:04 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 23:24:04 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010
+[05/10 23:24:04 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_010 in 14.14s (batch: 5.23s, save: 8.91s)
+[05/10 23:24:05 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 16 house 1 success=True episode_total=0.73s:
+  episode_total: mean=191.54s, total=191.54s, count=1, min=191542.3ms, max=191542.3ms
+  sensor_polling: mean=470.8ms, total=141.23s, count=300, min=406.2ms, max=995.2ms
+  save_trajectories: mean=8.91s, total=8.91s, count=1, min=8912.9ms, max=8912.9ms
+  physics_step: mean=21.4ms, total=6.43s, count=300, min=13.7ms, max=62.0ms
+  save_batch_prep: mean=5.23s, total=5.23s, count=1, min=5230.0ms, max=5230.0ms
+  task_sampling: mean=731.4ms, total=731.4ms, count=1, min=731.4ms, max=731.4ms
+  task_specific_sample: mean=727.1ms, total=727.1ms, count=1, min=727.1ms, max=727.1ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=563.9us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=16.7us, 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
+[05/10 23:24:07 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 23:24:07 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 23:24:07 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 23:24:07 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:24:07 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:24:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:24:07 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:24:07 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 23:24:07 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 23:24:07 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 23:24:07 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.026m, effective arm-mount z=0.886m (base_body_z=0.026m, pedestal_h=0.860m)
+[05/10 23:24:07 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 23:24:07 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 23:24:07 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.025803m
+[05/10 23:24:07 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 23:24:07 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 23:24:07 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 23:24:07 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 64.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:24:07 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.64961975  0.71305545  0.02580289] yaw=-163.8deg
+[05/10 23:24:07 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 23:24:07 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.67124166  0.53856956  0.02580289] yaw=-174.4deg
+[05/10 23:24:07 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 23:24:07 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 116.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:24:07 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 112.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:24:07 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.90592595  0.99345116  0.02580289] yaw=-149.8deg
+[05/10 23:24:07 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 23:24:07 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 23:24:07 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=95.8ms, total=95.9ms
+[05/10 23:24:07 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.650, 0.713, 0.026)
+[05/10 23:24:07 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -163.8 deg
+[05/10 23:24:07 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.078m
+[05/10 23:24:07 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:24:07 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:24:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:24:07 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:24:07 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 23:24:07 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 17/18 collected=0/3
+[05/10 23:24:07 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.082s
+[05/10 23:24:07 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 23:24:07 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 23:24:07 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps
+[05/10 23:24:09 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.542s, found feasible grasp: True
+[05/10 23:24:09 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.639[m] 92.096[deg]
+[05/10 23:24:09 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 23:24:09 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 23:24:09 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 23:25:20 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 23:25:30 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 23:25:34 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 23:26:51 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True
+[05/10 23:27:17 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 14 to /scr/ravenh/fridge_7/sim_chunks/chunk_010
+[05/10 23:27:17 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_010 batch 1/4: 1 episodes
+[05/10 23:27:17 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 23:27:29 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 23:27:29 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010
+[05/10 23:27:29 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_010 in 12.36s (batch: 4.17s, save: 8.20s)
+[05/10 23:27:30 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 17 house 1 success=True episode_total=0.39s:
+  episode_total: mean=203.64s, total=203.64s, count=1, min=203643.6ms, max=203643.6ms
+  sensor_polling: mean=506.1ms, total=151.83s, count=300, min=421.0ms, max=797.5ms
+  save_trajectories: mean=8.20s, total=8.20s, count=1, min=8196.1ms, max=8196.1ms
+  physics_step: mean=23.8ms, total=7.13s, count=300, min=16.8ms, max=73.6ms
+  save_batch_prep: mean=4.17s, total=4.17s, count=1, min=4165.9ms, max=4165.9ms
+  task_sampling: mean=387.3ms, total=387.3ms, count=1, min=387.3ms, max=387.3ms
+  task_specific_sample: mean=383.0ms, total=383.0ms, count=1, min=383.0ms, max=383.0ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=530.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=19.6us, 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
+[05/10 23:27:32 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_010
+[05/10 23:27:32 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_010
+[05/10 23:27:32 Worker 0 INFO pipeline.py:1323] Worker 0 completed house 1: 15/15 successful episodes
+[05/10 23:27:32 Worker 0 INFO profiler_utils.py:407] [PROFILE] House 1 complete: 15/15 successful, 15 episodes, total_time=5380.86s
+  House averages:
+  episode_total: mean=163.93s, total=2950.77s, count=18, min=1904.3ms, max=210287.0ms
+  sensor_polling: mean=455.8ms, total=2113.06s, count=4636, min=383.4ms, max=995.2ms
+  save_trajectories: mean=8.66s, total=129.92s, count=15, min=7647.3ms, max=11488.3ms
+  physics_step: mean=21.2ms, total=98.23s, count=4636, min=11.9ms, max=74.1ms
+  save_batch_prep: mean=4.07s, total=60.98s, count=15, min=3841.3ms, max=5230.0ms
+  task_sampling: mean=663.8ms, total=11.95s, count=18, min=329.9ms, max=3601.2ms
+  task_specific_sample: mean=493.1ms, total=8.88s, count=18, min=327.2ms, max=856.7ms
+  scene_load: mean=3.01s, total=3.01s, count=1, min=3008.3ms, max=3008.3ms
+  scene_env_create: mean=1.96s, total=1.96s, count=1, min=1964.4ms, max=1964.4ms
+  scene_compile: mean=911.5ms, total=911.5ms, count=1, min=911.5ms, max=911.5ms
+  compile_mujoco: mean=670.1ms, total=670.1ms, count=1, min=670.1ms, max=670.1ms
+  compile_xml_load: mean=148.2ms, total=148.2ms, count=1, min=148.2ms, max=148.2ms
+  scene_init: mean=90.1ms, total=90.1ms, count=1, min=90.1ms, max=90.1ms
+  compile_aux_objects: mean=59.8ms, total=59.8ms, count=1, min=59.8ms, max=59.8ms
+  compile_aux_policy_objects: mean=59.8ms, total=59.8ms, count=1, min=59.8ms, max=59.8ms
+  scene_asset_install: mean=42.1ms, total=42.1ms, count=1, min=42.1ms, max=42.1ms
+  scene_randomize: mean=2.2ms, total=40.3ms, count=18, min=1.3ms, max=3.0ms
+  asset_install_grasps: mean=29.5ms, total=29.5ms, count=1, min=29.5ms, max=29.5ms
+  compile_robot_add: mean=24.5ms, total=24.5ms, count=1, min=24.5ms, max=24.5ms
+  asset_install_objects: mean=9.1ms, total=9.1ms, count=1, min=9.1ms, max=9.1ms
+  mj_forward_sync: mean=474.7us, total=8.5ms, 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=19.4us, total=0.3ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
+[05/10 23:27:32 Worker 0 INFO pipeline.py:512] Worker 0 completed processing assigned houses
+[05/10 23:27:32 Worker 0 INFO profiler_utils.py:429] [PROFILE] Worker complete: 1 houses, 15 episodes, total_time=5380.86s
+  Worker averages:
+  episode_total: mean=163.93s, total=2950.77s, count=18, min=1904.3ms, max=210287.0ms
+  sensor_polling: mean=455.8ms, total=2113.06s, count=4636, min=383.4ms, max=995.2ms
+  save_trajectories: mean=8.66s, total=129.92s, count=15, min=7647.3ms, max=11488.3ms
+  physics_step: mean=21.2ms, total=98.23s, count=4636, min=11.9ms, max=74.1ms
+  save_batch_prep: mean=4.07s, total=60.98s, count=15, min=3841.3ms, max=5230.0ms
+  task_sampling: mean=663.8ms, total=11.95s, count=18, min=329.9ms, max=3601.2ms
+  task_specific_sample: mean=493.1ms, total=8.88s, count=18, min=327.2ms, max=856.7ms
+  scene_load: mean=3.01s, total=3.01s, count=1, min=3008.3ms, max=3008.3ms
+  scene_env_create: mean=1.96s, total=1.96s, count=1, min=1964.4ms, max=1964.4ms
+  scene_compile: mean=911.5ms, total=911.5ms, count=1, min=911.5ms, max=911.5ms
+  compile_mujoco: mean=670.1ms, total=670.1ms, count=1, min=670.1ms, max=670.1ms
+  compile_xml_load: mean=148.2ms, total=148.2ms, count=1, min=148.2ms, max=148.2ms
+  scene_init: mean=90.1ms, total=90.1ms, count=1, min=90.1ms, max=90.1ms
+  compile_aux_objects: mean=59.8ms, total=59.8ms, count=1, min=59.8ms, max=59.8ms
+  compile_aux_policy_objects: mean=59.8ms, total=59.8ms, count=1, min=59.8ms, max=59.8ms
+  scene_asset_install: mean=42.1ms, total=42.1ms, count=1, min=42.1ms, max=42.1ms
+  scene_randomize: mean=2.2ms, total=40.3ms, count=18, min=1.3ms, max=3.0ms
+  asset_install_grasps: mean=29.5ms, total=29.5ms, count=1, min=29.5ms, max=29.5ms
+  compile_robot_add: mean=24.5ms, total=24.5ms, count=1, min=24.5ms, max=24.5ms
+  asset_install_objects: mean=9.1ms, total=9.1ms, count=1, min=9.1ms, max=9.1ms
+  mj_forward_sync: mean=474.7us, total=8.5ms, 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=19.4us, total=0.3ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
+[05/10 23:27:34 INFO pipeline.py:1488] Completed 1 houses, skipped 0 houses
+[05/10 23:27:34 INFO pipeline.py:1491] Success count: 15, Total count: 15
+[05/10 23:27:34 INFO pipeline.py:1492] Success rate: 100.00%
+Failed to import warp: No module named 'warp'
+Failed to import mujoco_warp: No module named 'warp'
+Using SCENES_ROOT: /svl/u/ravenh/renderscale/molmospaces/assets/scenes
+==========================================
+Done. Shard 1/4 data saved under /scr/ravenh/fridge_7/sim_chunks/chunk_010
+==========================================
diff --git a/fridge_7/chunk_010/shard_2_of_4.log b/fridge_7/chunk_010/shard_2_of_4.log
index bdde0ceb89e2b15e7e68ebb8cb5c1d0029da6c15..4d067dfa2e4d01b43932ebee7ac63f5c56e88c76 100644
--- a/fridge_7/chunk_010/shard_2_of_4.log
+++ b/fridge_7/chunk_010/shard_2_of_4.log
@@ -950,3 +950,795 @@ DEBUG:h5py._conv:Creating converter from 5 to 3
 [05/10 23:05:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
 [05/10 23:05:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
 [05/10 23:05:32 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True
+[05/10 23:05:57 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_010
+[05/10 23:05:57 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_010 batch 2/4: 1 episodes
+[05/10 23:05:57 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 23:06:09 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 23:06:09 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010
+[05/10 23:06:09 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_010 in 12.08s (batch: 4.08s, save: 8.00s)
+[05/10 23:06:10 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 8 house 1 success=True episode_total=0.47s:
+  episode_total: mean=214.57s, total=214.57s, count=1, min=214571.8ms, max=214571.8ms
+  sensor_polling: mean=460.8ms, total=138.24s, count=300, min=395.0ms, max=664.9ms
+  save_trajectories: mean=8.00s, total=8.00s, count=1, min=8005.0ms, max=8005.0ms
+  physics_step: mean=22.5ms, total=6.76s, count=300, min=12.4ms, max=133.3ms
+  save_batch_prep: mean=4.08s, total=4.08s, count=1, min=4075.4ms, max=4075.4ms
+  task_sampling: mean=471.8ms, total=471.8ms, count=1, min=471.8ms, max=471.8ms
+  task_specific_sample: mean=467.4ms, total=467.4ms, count=1, min=467.4ms, max=467.4ms
+  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
+  mj_forward_sync: mean=509.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=27.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 23:06:11 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 23:06:11 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 23:06:11 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 23:06:11 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:06:11 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:06:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:06:11 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:06:11 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 23:06:11 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 23:06:11 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 23:06:11 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.020m, effective arm-mount z=0.880m (base_body_z=0.020m, pedestal_h=0.860m)
+[05/10 23:06:11 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 23:06:11 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 23:06:11 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.019549m
+[05/10 23:06:11 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 23:06:11 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 23:06:12 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 23:06:12 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.83056005  0.18051842  0.01954868] yaw=168.1deg
+[05/10 23:06:12 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 23:06:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 111.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:06:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -36.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:06:12 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.02640509  1.21315674  0.01954868] yaw=-133.3deg
+[05/10 23:06:12 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 23:06:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 64.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:06:12 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.72818197  0.297824    0.01954868] yaw=177.2deg
+[05/10 23:06:12 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 23:06:12 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 23:06:12 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=467.7ms, total=467.7ms
+[05/10 23:06:12 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.831, 0.181, 0.020)
+[05/10 23:06:12 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 168.1 deg
+[05/10 23:06:12 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.922m
+[05/10 23:06:12 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:06:12 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:06:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:06:12 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:06:12 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 23:06:12 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 9/18 collected=0/3
+[05/10 23:06:12 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.121s
+[05/10 23:06:12 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 23:06:12 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 23:06:12 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps
+[05/10 23:06:14 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.104s, found feasible grasp: True
+[05/10 23:06:14 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.494[m] 95.249[deg]
+[05/10 23:06:14 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 23:06:14 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 23:06:14 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 23:07:00 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 23:07:08 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 23:07:14 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 23:08:34 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 23:08:36 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 23:08:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 23:08:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 23:08:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 23:08:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 23:08:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 23:08:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 23:08:45 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 23:08:45 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 23:08:45 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 23:08:45 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 23:08:45 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.065s, found 78 non-colliding grasps
+[05/10 23:08:46 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.422s, found feasible grasp: True
+[05/10 23:08:46 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.804[deg]
+[05/10 23:08:46 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 23:08:46 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 23:08:46 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 23:08:53 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 23:09:02 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True
+[05/10 23:09:23 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_010
+[05/10 23:09:23 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_010 batch 2/4: 1 episodes
+[05/10 23:09:23 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 23:09:36 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 23:09:36 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010
+[05/10 23:09:36 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_010 in 12.33s (batch: 4.44s, save: 7.89s)
+[05/10 23:09:36 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 9 house 1 success=True episode_total=0.74s:
+  episode_total: mean=204.76s, total=204.76s, count=1, min=204760.9ms, max=204760.9ms
+  sensor_polling: mean=461.5ms, total=138.46s, count=300, min=383.9ms, max=848.8ms
+  save_trajectories: mean=7.89s, total=7.89s, count=1, min=7893.2ms, max=7893.2ms
+  physics_step: mean=22.0ms, total=6.60s, count=300, min=15.6ms, max=58.5ms
+  save_batch_prep: mean=4.44s, total=4.44s, count=1, min=4437.4ms, max=4437.4ms
+  task_sampling: mean=736.4ms, total=736.4ms, count=1, min=736.4ms, max=736.4ms
+  task_specific_sample: mean=732.6ms, total=732.6ms, count=1, min=732.6ms, max=732.6ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=478.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  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
+[05/10 23:09:38 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 23:09:38 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 23:09:38 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 23:09:38 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:09:38 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:09:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:09:38 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:09:38 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 23:09:38 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 23:09:38 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 23:09:38 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.026m, effective arm-mount z=0.886m (base_body_z=0.026m, pedestal_h=0.860m)
+[05/10 23:09:38 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 23:09:38 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 23:09:38 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.025875m
+[05/10 23:09:38 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 23:09:38 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 23:09:38 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 23:09:38 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -66.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:09:38 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 71.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:09:38 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.71695438  0.95145651  0.0258746 ] yaw=-157.4deg
+[05/10 23:09:38 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 23:09:38 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.90460923  0.14255251  0.0258746 ] yaw=162.3deg
+[05/10 23:09:38 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 23:09:38 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 176.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:09:38 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.10843734  1.17592281  0.0258746 ] yaw=-125.2deg
+[05/10 23:09:38 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 23:09:38 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 23:09:38 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=112.4ms, total=112.4ms
+[05/10 23:09:38 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.717, 0.951, 0.026)
+[05/10 23:09:38 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -157.4 deg
+[05/10 23:09:38 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.092m
+[05/10 23:09:38 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:09:38 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:09:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:09:38 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:09:38 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 23:09:38 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 10/18 collected=0/3
+[05/10 23:09:38 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.074s
+[05/10 23:09:38 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 23:09:38 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 23:09:38 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps
+[05/10 23:09:40 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.473s, found feasible grasp: True
+[05/10 23:09:40 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.626[m] 77.826[deg]
+[05/10 23:09:41 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 10 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
+    observation, _info = task.reset()  # don't update env after reset!
+                         ^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
+    self._registered_policy.reset()
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 23:09:42 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 23:09:42 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 23:09:42 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 23:09:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:09:42 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:09:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:09:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:09:42 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 23:09:42 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 23:09:42 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 23:09:42 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.081m, effective arm-mount z=0.941m (base_body_z=0.081m, pedestal_h=0.860m)
+[05/10 23:09:42 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 23:09:42 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 23:09:42 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.080914m
+[05/10 23:09:42 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 23:09:42 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 23:09:42 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 23:09:42 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.18629076  1.11918595  0.08091379] yaw=-126.8deg
+[05/10 23:09:42 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 23:09:42 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 165.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:09:42 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 87.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:09:42 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.78691895  0.88938164  0.08091379] yaw=-155.0deg
+[05/10 23:09:42 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 23:09:42 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 88.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:09:42 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.85983502  1.00820193  0.08091379] yaw=-147.5deg
+[05/10 23:09:42 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 23:09:42 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 23:09:42 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=138.4ms, total=138.4ms
+[05/10 23:09:42 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.186, 1.119, 0.081)
+[05/10 23:09:42 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -126.8 deg
+[05/10 23:09:42 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.820m
+[05/10 23:09:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:09:42 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:09:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:09:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:09:43 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 23:09:43 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 11/18 collected=0/3
+[05/10 23:09:43 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.047s
+[05/10 23:09:43 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 23:09:43 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 23:09:43 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps
+[05/10 23:09:43 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.589s, found feasible grasp: True
+[05/10 23:09:43 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.431[m] 94.043[deg]
+[05/10 23:09:43 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 23:09:44 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 23:09:44 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 23:10:22 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 23:10:32 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 23:10:36 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 23:11:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 23:11:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 23:11:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 23:11:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 23:11:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 23:11:49 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 23:11:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 23:11:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 23:11:52 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 23:11:52 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 23:11:52 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 23:11:52 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 23:11:52 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.057s, found 76 non-colliding grasps
+[05/10 23:11:54 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.498s, found feasible grasp: True
+[05/10 23:11:54 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.260[deg]
+[05/10 23:11:55 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 11 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 23:11:56 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 23:11:56 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 23:11:56 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 23:11:56 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:11:56 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:11:56 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:11:56 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:11:56 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 23:11:56 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 23:11:56 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 23:11:56 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.062m, effective arm-mount z=0.922m (base_body_z=0.062m, pedestal_h=0.860m)
+[05/10 23:11:56 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 23:11:56 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 23:11:56 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.061715m
+[05/10 23:11:56 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 23:11:56 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 23:11:56 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 23:11:56 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.02537089  1.14829214  0.06171526] yaw=-130.9deg
+[05/10 23:11:56 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 23:11:56 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 166.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:11:56 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 85.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:11:57 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.65433755  0.46459842  0.06171526] yaw=178.6deg
+[05/10 23:11:57 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 23:11:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 157.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:11:57 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.90105291  0.60888993  0.06171526] yaw=-179.6deg
+[05/10 23:11:57 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 23:11:57 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 23:11:57 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=201.6ms, total=201.6ms
+[05/10 23:11:57 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.025, 1.148, 0.062)
+[05/10 23:11:57 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -130.9 deg
+[05/10 23:11:57 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.950m
+[05/10 23:11:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:11:57 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:11:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:11:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:11:57 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 23:11:57 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 12/18 collected=0/3
+[05/10 23:11:57 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.043s
+[05/10 23:11:57 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 23:11:57 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 23:11:57 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps
+[05/10 23:11:59 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.452s, found feasible grasp: True
+[05/10 23:11:59 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.509[m] 85.285[deg]
+[05/10 23:12:00 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 23:12:00 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 23:12:00 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 23:12:48 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 23:12:56 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 23:13:00 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 23:14:03 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 23:14:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 23:14:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 23:14:11 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 23:14:13 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 23:14:15 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 23:14:16 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 23:14:17 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 23:14:17 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 23:14:17 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 23:14:17 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 23:14:17 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 23:14:18 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 78 non-colliding grasps
+[05/10 23:14:19 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 1.479s, found feasible grasp: False
+[05/10 23:14:19 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 12 rollout error: No feasible grasp found
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 80, in _compute_target_poses
+    grasp_pose_world = compute_grasp_pose(
+                       ^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/utils/grasp_sample.py", line 536, in compute_grasp_pose
+    raise ValueError("No feasible grasp found")
+ValueError: No feasible grasp found
+[05/10 23:14:21 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 23:14:21 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 23:14:21 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 23:14:21 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:14:21 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:14:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:14:21 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:14:21 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 23:14:21 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 23:14:21 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 23:14:21 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.088m, effective arm-mount z=0.948m (base_body_z=0.088m, pedestal_h=0.860m)
+[05/10 23:14:21 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 23:14:21 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 23:14:21 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.087780m
+[05/10 23:14:21 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 23:14:21 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 23:14:21 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 23:14:21 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -176.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:14:21 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.63238644  0.59686233  0.08777963] yaw=-178.5deg
+[05/10 23:14:21 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 23:14:21 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 123.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:14:21 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.72883175  0.35825008  0.08777963] yaw=179.2deg
+[05/10 23:14:21 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 23:14:21 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -29.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:14:21 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.01216485  0.80105399  0.08777963] yaw=-147.8deg
+[05/10 23:14:21 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 23:14:21 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 23:14:21 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=259.8ms, total=259.8ms
+[05/10 23:14:21 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.632, 0.597, 0.088)
+[05/10 23:14:21 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -178.5 deg
+[05/10 23:14:21 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.076m
+[05/10 23:14:21 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:14:21 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:14:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:14:21 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:14:21 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 23:14:21 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 13/18 collected=0/3
+[05/10 23:14:21 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.075s
+[05/10 23:14:21 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 23:14:21 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 23:14:21 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.042s, found 88 non-colliding grasps
+[05/10 23:14:22 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.683s, found feasible grasp: True
+[05/10 23:14:22 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.590[m] 76.315[deg]
+[05/10 23:14:22 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 23:14:23 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 23:14:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 23:15:18 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 23:15:28 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 23:15:32 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 23:16:47 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True
+[05/10 23:17:09 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_010
+[05/10 23:17:09 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_010 batch 2/4: 1 episodes
+[05/10 23:17:09 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 23:17:22 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 23:17:22 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010
+[05/10 23:17:22 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_010 in 12.99s (batch: 4.89s, save: 8.10s)
+[05/10 23:17:23 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 13 house 1 success=True episode_total=1.73s:
+  episode_total: mean=115.06s, total=460.23s, count=4, min=2897.8ms, max=182178.1ms
+  sensor_polling: mean=445.7ms, total=363.66s, count=816, min=373.8ms, max=915.7ms
+  physics_step: mean=21.3ms, total=17.39s, count=816, min=13.7ms, max=66.4ms
+  save_trajectories: mean=8.10s, total=8.10s, count=1, min=8098.4ms, max=8098.4ms
+  save_batch_prep: mean=4.89s, total=4.89s, count=1, min=4891.6ms, max=4891.6ms
+  task_sampling: mean=431.9ms, total=1.73s, count=4, min=358.0ms, max=565.0ms
+  task_specific_sample: mean=428.7ms, total=1.71s, count=4, min=355.2ms, max=561.0ms
+  scene_randomize: mean=1.5ms, total=6.1ms, count=4, min=1.1ms, max=2.4ms
+  mj_forward_sync: mean=416.6us, total=1.7ms, count=4, min=0.4ms, max=0.5ms
+  policy_setup: mean=17.0us, total=0.1ms, count=4, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms
+[05/10 23:17:24 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 23:17:24 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 23:17:24 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 23:17:24 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:17:24 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:17:24 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:17:24 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:17:24 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 23:17:24 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 23:17:24 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 23:17:24 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.031m, effective arm-mount z=0.891m (base_body_z=0.031m, pedestal_h=0.860m)
+[05/10 23:17:24 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 23:17:24 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 23:17:24 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.031035m
+[05/10 23:17:24 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 23:17:24 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 23:17:24 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 23:17:24 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -69.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:17:24 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -30.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:17:24 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 55.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:17:24 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.83505234  0.93351166  0.03103468] yaw=-142.5deg
+[05/10 23:17:24 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 23:17:24 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 108.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:17:24 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.85209926  1.16649094  0.03103468] yaw=-150.5deg
+[05/10 23:17:25 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 23:17:25 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.75132531  0.59733863  0.03103468] yaw=-167.8deg
+[05/10 23:17:25 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 23:17:25 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 23:17:25 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=215.9ms, total=215.9ms
+[05/10 23:17:25 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.835, 0.934, 0.031)
+[05/10 23:17:25 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -142.5 deg
+[05/10 23:17:25 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.978m
+[05/10 23:17:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:17:25 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:17:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:17:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:17:25 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 23:17:25 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 14/18 collected=0/3
+[05/10 23:17:25 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.104s
+[05/10 23:17:25 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 23:17:25 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 23:17:25 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps
+[05/10 23:17:26 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.425s, found feasible grasp: True
+[05/10 23:17:26 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.541[m] 84.982[deg]
+[05/10 23:17:26 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 23:17:27 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 23:17:27 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 23:18:19 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 23:18:29 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 23:18:33 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 23:19:50 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True
+[05/10 23:20:11 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_010
+[05/10 23:20:11 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_010 batch 2/4: 1 episodes
+[05/10 23:20:11 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 23:20:25 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 23:20:25 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010
+[05/10 23:20:25 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_010 in 13.96s (batch: 4.67s, save: 9.29s)
+[05/10 23:20:26 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 14 house 1 success=True episode_total=0.50s:
+  episode_total: mean=181.25s, total=181.25s, count=1, min=181252.5ms, max=181252.5ms
+  sensor_polling: mean=447.3ms, total=134.18s, count=300, min=375.9ms, max=868.6ms
+  save_trajectories: mean=9.29s, total=9.29s, count=1, min=9289.0ms, max=9289.0ms
+  physics_step: mean=20.5ms, total=6.16s, count=300, min=13.6ms, max=54.6ms
+  save_batch_prep: mean=4.67s, total=4.67s, count=1, min=4672.2ms, max=4672.2ms
+  task_sampling: mean=500.8ms, total=500.8ms, count=1, min=500.8ms, max=500.8ms
+  task_specific_sample: mean=497.4ms, total=497.4ms, count=1, min=497.4ms, max=497.4ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=376.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=19.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 23:20:27 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 23:20:27 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 23:20:27 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 23:20:27 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:20:27 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:20:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:20:27 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:20:27 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 23:20:27 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 23:20:27 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 23:20:27 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.012m, effective arm-mount z=0.872m (base_body_z=0.012m, pedestal_h=0.860m)
+[05/10 23:20:27 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 23:20:27 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 23:20:27 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.011674m
+[05/10 23:20:27 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 23:20:27 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 23:20:27 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 23:20:27 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.00662018  1.2495258   0.01167393] yaw=-141.9deg
+[05/10 23:20:27 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 23:20:27 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.94610444  0.17929252  0.01167393] yaw=155.9deg
+[05/10 23:20:27 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 23:20:27 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.80738794  0.69778829  0.01167393] yaw=-177.8deg
+[05/10 23:20:27 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 23:20:27 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 23:20:27 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=74.0ms, total=74.1ms
+[05/10 23:20:27 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.007, 1.250, 0.012)
+[05/10 23:20:27 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -141.9 deg
+[05/10 23:20:27 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.036m
+[05/10 23:20:27 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:20:27 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:20:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:20:27 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:20:28 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 23:20:28 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 15/18 collected=0/3
+[05/10 23:20:28 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.074s
+[05/10 23:20:28 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 23:20:28 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 23:20:28 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps
+[05/10 23:20:29 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.526s, found feasible grasp: True
+[05/10 23:20:29 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.609[m] 86.121[deg]
+[05/10 23:20:30 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 15 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
+    observation, _info = task.reset()  # don't update env after reset!
+                         ^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
+    self._registered_policy.reset()
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 23:20:32 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 23:20:32 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 23:20:32 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 23:20:32 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:20:32 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:20:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:20:32 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:20:32 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 23:20:32 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 23:20:32 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 23:20:32 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.088m, effective arm-mount z=0.948m (base_body_z=0.088m, pedestal_h=0.860m)
+[05/10 23:20:32 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 23:20:32 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 23:20:32 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.087596m
+[05/10 23:20:32 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 23:20:32 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 23:20:32 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 23:20:32 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.94001052  0.38712995  0.08759611] yaw=172.9deg
+[05/10 23:20:32 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 23:20:32 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 69.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:20:32 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -73.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:20:32 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 107.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:20:32 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -64.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:20:32 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.83387378  0.53923879  0.08759611] yaw=-167.4deg
+[05/10 23:20:32 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 23:20:32 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.74824286  0.37428297  0.08759611] yaw=165.5deg
+[05/10 23:20:32 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 23:20:32 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 23:20:32 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=147.2ms, total=147.2ms
+[05/10 23:20:32 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.940, 0.387, 0.088)
+[05/10 23:20:32 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 172.9 deg
+[05/10 23:20:32 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.768m
+[05/10 23:20:32 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:20:32 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:20:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:20:32 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:20:32 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 23:20:32 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 16/18 collected=0/3
+[05/10 23:20:32 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.047s
+[05/10 23:20:32 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 23:20:32 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 23:20:32 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps
+[05/10 23:20:33 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.436s, found feasible grasp: True
+[05/10 23:20:33 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.304[m] 86.603[deg]
+[05/10 23:20:33 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 23:20:33 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 23:20:33 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 23:21:02 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 23:21:12 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 23:21:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 23:21:55 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 23:21:57 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 23:21:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 23:22:00 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 23:22:01 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 23:22:03 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 23:22:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 23:22:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 23:22:06 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 23:22:06 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 23:22:06 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 23:22:06 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 23:22:06 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.048s, found 78 non-colliding grasps
+[05/10 23:22:06 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.355s, found feasible grasp: True
+[05/10 23:22:06 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.291[deg]
+[05/10 23:22:07 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 16 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 23:22:09 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 23:22:09 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 23:22:09 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 23:22:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:22:09 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:22:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:22:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:22:09 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 23:22:09 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 23:22:09 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 23:22:09 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.098m, effective arm-mount z=0.958m (base_body_z=0.098m, pedestal_h=0.860m)
+[05/10 23:22:09 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 23:22:09 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 23:22:09 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.098070m
+[05/10 23:22:09 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 23:22:09 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 23:22:09 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 23:22:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 73.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:22:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 107.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:22:09 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.63742084  0.54004988  0.09807029] yaw=-171.4deg
+[05/10 23:22:09 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 23:22:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -53.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:22:09 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.9422317   0.24074234  0.09807029] yaw=169.7deg
+[05/10 23:22:09 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 23:22:09 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.76707691  0.45150478  0.09807029] yaw=187.2deg
+[05/10 23:22:09 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 23:22:09 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 23:22:09 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=147.1ms, total=147.2ms
+[05/10 23:22:09 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.637, 0.540, 0.098)
+[05/10 23:22:09 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -171.4 deg
+[05/10 23:22:09 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.067m
+[05/10 23:22:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:22:09 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:22:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:22:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:22:09 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 23:22:09 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 17/18 collected=0/3
+[05/10 23:22:09 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.047s
+[05/10 23:22:09 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 23:22:09 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 23:22:09 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps
+[05/10 23:22:10 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.814s, found feasible grasp: True
+[05/10 23:22:10 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.638[m] 89.751[deg]
+[05/10 23:22:10 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 23:22:11 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 23:22:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 23:23:10 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 23:23:28 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 23:23:33 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 23:24:50 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True
+[05/10 23:25:14 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_7/sim_chunks/chunk_010
+[05/10 23:25:14 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_010 batch 2/4: 1 episodes
+[05/10 23:25:14 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 23:25:27 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 23:25:27 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010
+[05/10 23:25:27 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_010 in 12.73s (batch: 4.12s, save: 8.61s)
+[05/10 23:25:27 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 17 house 1 success=True episode_total=1.19s:
+  episode_total: mean=98.94s, total=296.82s, count=3, min=3046.0ms, max=198251.2ms
+  sensor_polling: mean=480.3ms, total=219.51s, count=457, min=402.1ms, max=1083.7ms
+  physics_step: mean=22.9ms, total=10.48s, count=457, min=13.6ms, max=99.8ms
+  save_trajectories: mean=8.61s, total=8.61s, count=1, min=8612.8ms, max=8612.8ms
+  save_batch_prep: mean=4.12s, total=4.12s, count=1, min=4119.8ms, max=4119.8ms
+  task_sampling: mean=398.0ms, total=1.19s, count=3, min=365.6ms, max=426.5ms
+  task_specific_sample: mean=394.9ms, total=1.18s, count=3, min=362.4ms, max=422.9ms
+  scene_randomize: mean=1.6ms, total=4.9ms, count=3, min=1.2ms, max=2.3ms
+  mj_forward_sync: mean=446.0us, total=1.3ms, count=3, min=0.4ms, max=0.5ms
+  policy_setup: mean=19.4us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
+[05/10 23:25:29 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_010
+[05/10 23:25:29 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_010
+[05/10 23:25:29 Worker 0 INFO pipeline.py:1323] Worker 0 completed house 1: 13/13 successful episodes
+[05/10 23:25:29 Worker 0 INFO profiler_utils.py:407] [PROFILE] House 1 complete: 13/13 successful, 13 episodes, total_time=5190.12s
+  House averages:
+  episode_total: mean=157.10s, total=2827.74s, count=18, min=2897.8ms, max=214571.8ms
+  sensor_polling: mean=451.5ms, total=2063.48s, count=4570, min=373.8ms, max=1083.7ms
+  save_trajectories: mean=9.29s, total=120.79s, count=13, min=7491.0ms, max=11526.4ms
+  physics_step: mean=21.1ms, total=96.53s, count=4570, min=12.4ms, max=133.3ms
+  save_batch_prep: mean=4.13s, total=53.67s, count=13, min=3630.6ms, max=4891.6ms
+  task_sampling: mean=648.3ms, total=11.67s, count=18, min=358.0ms, max=3811.5ms
+  task_specific_sample: mean=465.2ms, total=8.37s, count=18, min=355.2ms, max=732.6ms
+  scene_load: mean=3.23s, total=3.23s, count=1, min=3230.3ms, max=3230.3ms
+  scene_env_create: mean=1.86s, total=1.86s, count=1, min=1859.7ms, max=1859.7ms
+  scene_compile: mean=1.25s, total=1.25s, count=1, min=1247.8ms, max=1247.8ms
+  compile_mujoco: mean=734.6ms, total=734.6ms, count=1, min=734.6ms, max=734.6ms
+  compile_xml_load: mean=419.7ms, total=419.7ms, count=1, min=419.7ms, max=419.7ms
+  scene_init: mean=70.9ms, total=70.9ms, count=1, min=70.9ms, max=70.9ms
+  compile_aux_objects: mean=60.1ms, total=60.1ms, count=1, min=60.1ms, max=60.1ms
+  compile_aux_policy_objects: mean=60.1ms, total=60.1ms, count=1, min=60.1ms, max=60.1ms
+  scene_asset_install: mean=51.6ms, total=51.6ms, count=1, min=51.6ms, max=51.6ms
+  scene_randomize: mean=2.2ms, total=38.9ms, count=18, min=1.1ms, max=3.2ms
+  asset_install_grasps: mean=37.7ms, total=37.7ms, count=1, min=37.7ms, max=37.7ms
+  compile_robot_add: mean=24.2ms, total=24.2ms, count=1, min=24.2ms, max=24.2ms
+  asset_install_objects: mean=11.0ms, total=11.0ms, count=1, min=11.0ms, max=11.0ms
+  mj_forward_sync: mean=462.0us, total=8.3ms, count=18, min=0.4ms, max=0.6ms
+  asset_install_scene: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  policy_setup: mean=23.3us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
+[05/10 23:25:29 Worker 0 INFO pipeline.py:512] Worker 0 completed processing assigned houses
+[05/10 23:25:29 Worker 0 INFO profiler_utils.py:429] [PROFILE] Worker complete: 1 houses, 13 episodes, total_time=5190.12s
+  Worker averages:
+  episode_total: mean=157.10s, total=2827.74s, count=18, min=2897.8ms, max=214571.8ms
+  sensor_polling: mean=451.5ms, total=2063.48s, count=4570, min=373.8ms, max=1083.7ms
+  save_trajectories: mean=9.29s, total=120.79s, count=13, min=7491.0ms, max=11526.4ms
+  physics_step: mean=21.1ms, total=96.53s, count=4570, min=12.4ms, max=133.3ms
+  save_batch_prep: mean=4.13s, total=53.67s, count=13, min=3630.6ms, max=4891.6ms
+  task_sampling: mean=648.3ms, total=11.67s, count=18, min=358.0ms, max=3811.5ms
+  task_specific_sample: mean=465.2ms, total=8.37s, count=18, min=355.2ms, max=732.6ms
+  scene_load: mean=3.23s, total=3.23s, count=1, min=3230.3ms, max=3230.3ms
+  scene_env_create: mean=1.86s, total=1.86s, count=1, min=1859.7ms, max=1859.7ms
+  scene_compile: mean=1.25s, total=1.25s, count=1, min=1247.8ms, max=1247.8ms
+  compile_mujoco: mean=734.6ms, total=734.6ms, count=1, min=734.6ms, max=734.6ms
+  compile_xml_load: mean=419.7ms, total=419.7ms, count=1, min=419.7ms, max=419.7ms
+  scene_init: mean=70.9ms, total=70.9ms, count=1, min=70.9ms, max=70.9ms
+  compile_aux_objects: mean=60.1ms, total=60.1ms, count=1, min=60.1ms, max=60.1ms
+  compile_aux_policy_objects: mean=60.1ms, total=60.1ms, count=1, min=60.1ms, max=60.1ms
+  scene_asset_install: mean=51.6ms, total=51.6ms, count=1, min=51.6ms, max=51.6ms
+  scene_randomize: mean=2.2ms, total=38.9ms, count=18, min=1.1ms, max=3.2ms
+  asset_install_grasps: mean=37.7ms, total=37.7ms, count=1, min=37.7ms, max=37.7ms
+  compile_robot_add: mean=24.2ms, total=24.2ms, count=1, min=24.2ms, max=24.2ms
+  asset_install_objects: mean=11.0ms, total=11.0ms, count=1, min=11.0ms, max=11.0ms
+  mj_forward_sync: mean=462.0us, total=8.3ms, count=18, min=0.4ms, max=0.6ms
+  asset_install_scene: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  policy_setup: mean=23.3us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
+[05/10 23:25:31 INFO pipeline.py:1488] Completed 1 houses, skipped 0 houses
+[05/10 23:25:31 INFO pipeline.py:1491] Success count: 13, Total count: 13
+[05/10 23:25:31 INFO pipeline.py:1492] Success rate: 100.00%
+Failed to import warp: No module named 'warp'
+Failed to import mujoco_warp: No module named 'warp'
+Using SCENES_ROOT: /svl/u/ravenh/renderscale/molmospaces/assets/scenes
+==========================================
+Done. Shard 2/4 data saved under /scr/ravenh/fridge_7/sim_chunks/chunk_010
+==========================================
diff --git a/fridge_7/chunk_010/shard_3_of_4.log b/fridge_7/chunk_010/shard_3_of_4.log
index a71b28e5c1d0523de03f53da73de3a9e5eca7428..c5c11b98c1994fb4ce5cfe28c423a55a3d83589c 100644
--- a/fridge_7/chunk_010/shard_3_of_4.log
+++ b/fridge_7/chunk_010/shard_3_of_4.log
@@ -946,3 +946,769 @@ DEBUG:h5py._conv:Creating converter from 5 to 3
 [05/10 23:04:27 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
 [05/10 23:04:32 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
 [05/10 23:05:40 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True
+[05/10 23:06:04 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_010
+[05/10 23:06:04 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_010 batch 3/4: 1 episodes
+[05/10 23:06:04 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 23:06:17 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 23:06:17 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010
+[05/10 23:06:17 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_010 in 13.62s (batch: 3.87s, save: 9.75s)
+[05/10 23:06:18 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 8 house 1 success=True episode_total=0.43s:
+  episode_total: mean=188.63s, total=188.63s, count=1, min=188631.2ms, max=188631.2ms
+  sensor_polling: mean=459.2ms, total=137.77s, count=300, min=397.2ms, max=752.9ms
+  save_trajectories: mean=9.75s, total=9.75s, count=1, min=9750.0ms, max=9750.0ms
+  physics_step: mean=21.8ms, total=6.54s, count=300, min=17.0ms, max=88.8ms
+  save_batch_prep: mean=3.87s, total=3.87s, count=1, min=3868.7ms, max=3868.7ms
+  task_sampling: mean=426.3ms, total=426.3ms, count=1, min=426.3ms, max=426.3ms
+  task_specific_sample: mean=422.5ms, total=422.5ms, count=1, min=422.5ms, max=422.5ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=432.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=18.4us, 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
+[05/10 23:06:19 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 23:06:19 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 23:06:19 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 23:06:19 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:06:19 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:06:19 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:06:19 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:06:19 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 23:06:19 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 23:06:19 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 23:06:19 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.007m, effective arm-mount z=0.867m (base_body_z=0.007m, pedestal_h=0.860m)
+[05/10 23:06:19 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 23:06:19 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 23:06:19 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.006897m
+[05/10 23:06:19 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 23:06:19 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 23:06:19 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 23:06:19 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.92177406  0.76590406  0.00689695] yaw=-149.5deg
+[05/10 23:06:19 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 23:06:19 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -67.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:06:19 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 51.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:06:19 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.71163099  0.32276216  0.00689695] yaw=179.5deg
+[05/10 23:06:19 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 23:06:19 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 69.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:06:20 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.70008078  0.8567145   0.00689695] yaw=-170.3deg
+[05/10 23:06:20 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 23:06:20 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 23:06:20 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=146.8ms, total=146.8ms
+[05/10 23:06:20 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.922, 0.766, 0.007)
+[05/10 23:06:20 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -149.5 deg
+[05/10 23:06:20 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.831m
+[05/10 23:06:20 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:06:20 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:06:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:06:20 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:06:20 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 23:06:20 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 9/18 collected=0/3
+[05/10 23:06:20 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.076s
+[05/10 23:06:20 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 23:06:20 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 23:06:20 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps
+[05/10 23:06:20 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.471s, found feasible grasp: True
+[05/10 23:06:20 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.400[m] 92.386[deg]
+[05/10 23:06:20 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 23:06:21 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 23:06:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 23:06:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 23:07:04 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 23:07:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 23:08:43 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True
+[05/10 23:09:07 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_010
+[05/10 23:09:07 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_010 batch 3/4: 1 episodes
+[05/10 23:09:07 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 23:09:19 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 23:09:19 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010
+[05/10 23:09:19 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_010 in 12.57s (batch: 4.01s, save: 8.57s)
+[05/10 23:09:20 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 9 house 1 success=True episode_total=0.40s:
+  episode_total: mean=180.78s, total=180.78s, count=1, min=180782.7ms, max=180782.7ms
+  sensor_polling: mean=445.5ms, total=133.64s, count=300, min=388.6ms, max=842.7ms
+  save_trajectories: mean=8.57s, total=8.57s, count=1, min=8565.2ms, max=8565.2ms
+  physics_step: mean=21.4ms, total=6.42s, count=300, min=13.9ms, max=105.0ms
+  save_batch_prep: mean=4.01s, total=4.01s, count=1, min=4009.1ms, max=4009.1ms
+  task_sampling: mean=399.7ms, total=399.7ms, count=1, min=399.7ms, max=399.7ms
+  task_specific_sample: mean=396.2ms, total=396.2ms, count=1, min=396.2ms, max=396.2ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=402.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  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
+[05/10 23:09:22 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 23:09:22 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 23:09:22 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 23:09:22 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:09:22 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:09:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:09:22 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:09:22 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 23:09:22 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 23:09:22 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 23:09:22 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.050m, effective arm-mount z=0.910m (base_body_z=0.050m, pedestal_h=0.860m)
+[05/10 23:09:22 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 23:09:22 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 23:09:22 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.050043m
+[05/10 23:09:22 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 23:09:22 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 23:09:22 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 23:09:22 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 68.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:09:22 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.01988596  1.22744096  0.05004333] yaw=-130.7deg
+[05/10 23:09:22 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 23:09:22 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 118.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:09:22 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.96005084  0.86684374  0.05004333] yaw=-151.1deg
+[05/10 23:09:22 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 23:09:22 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.6678634   0.15019616  0.05004333] yaw=171.7deg
+[05/10 23:09:22 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 23:09:22 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 23:09:22 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=143.5ms, total=143.5ms
+[05/10 23:09:22 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.020, 1.227, 0.050)
+[05/10 23:09:22 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -130.7 deg
+[05/10 23:09:22 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.011m
+[05/10 23:09:22 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:09:22 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:09:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:09:22 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:09:22 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 23:09:22 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 10/18 collected=0/3
+[05/10 23:09:23 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.128s
+[05/10 23:09:23 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 23:09:23 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 23:09:23 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.053s, found 88 non-colliding grasps
+[05/10 23:09:26 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.931s, found feasible grasp: True
+[05/10 23:09:26 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.597[m] 92.849[deg]
+[05/10 23:09:27 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 10 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
+    observation, _info = task.reset()  # don't update env after reset!
+                         ^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
+    self._registered_policy.reset()
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 23:09:28 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 23:09:28 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 23:09:28 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 23:09:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:09:28 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:09:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:09:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:09:28 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 23:09:28 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 23:09:28 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 23:09:28 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.069m, effective arm-mount z=0.929m (base_body_z=0.069m, pedestal_h=0.860m)
+[05/10 23:09:28 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 23:09:28 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 23:09:28 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.068614m
+[05/10 23:09:28 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 23:09:28 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 23:09:28 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 23:09:28 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 117.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:09:28 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.9294979   0.1920714   0.06861409] yaw=151.6deg
+[05/10 23:09:28 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 23:09:28 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.88711045  0.13451789  0.06861409] yaw=152.2deg
+[05/10 23:09:28 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 23:09:28 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -29.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:09:28 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.76500749  0.4411196   0.06861409] yaw=177.3deg
+[05/10 23:09:28 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 23:09:28 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 23:09:28 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=85.9ms, total=85.9ms
+[05/10 23:09:28 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.929, 0.192, 0.069)
+[05/10 23:09:28 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 151.6 deg
+[05/10 23:09:28 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.825m
+[05/10 23:09:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:09:28 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:09:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:09:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:09:28 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 23:09:28 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 11/18 collected=0/3
+[05/10 23:09:29 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.054s
+[05/10 23:09:29 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 23:09:29 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 23:09:29 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps
+[05/10 23:09:29 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.530s, found feasible grasp: True
+[05/10 23:09:29 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.368[m] 84.336[deg]
+[05/10 23:09:29 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 23:09:30 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 23:09:30 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 23:10:02 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 23:10:11 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 23:10:15 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 23:10:58 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 23:11:00 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 23:11:03 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 23:11:05 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 23:11:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 23:11:07 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 23:11:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 23:11:10 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 23:11:10 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 23:11:10 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 23:11:10 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 23:11:10 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 23:11:10 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.042s, found 80 non-colliding grasps
+[05/10 23:11:11 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.394s, found feasible grasp: True
+[05/10 23:11:11 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.173[deg]
+[05/10 23:11:12 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 11 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 23:11:13 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 23:11:13 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 23:11:13 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 23:11:13 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:11:13 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:11:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:11:13 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:11:13 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 23:11:13 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 23:11:13 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 23:11:13 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.016m, effective arm-mount z=0.876m (base_body_z=0.016m, pedestal_h=0.860m)
+[05/10 23:11:13 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 23:11:13 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 23:11:13 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.016157m
+[05/10 23:11:13 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 23:11:13 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 23:11:13 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 23:11:13 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.92559042  0.35279308  0.01615693] yaw=171.4deg
+[05/10 23:11:13 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 23:11:13 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.76913931  0.1905269   0.01615693] yaw=153.5deg
+[05/10 23:11:13 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 23:11:13 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 83.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:11:13 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.80133331  0.01050044  0.01615693] yaw=146.7deg
+[05/10 23:11:13 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 23:11:13 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 23:11:13 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=76.8ms, total=76.8ms
+[05/10 23:11:13 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.926, 0.353, 0.016)
+[05/10 23:11:13 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 171.4 deg
+[05/10 23:11:13 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.787m
+[05/10 23:11:13 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:11:13 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:11:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:11:13 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:11:14 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 23:11:14 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 12/18 collected=0/3
+[05/10 23:11:14 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.051s
+[05/10 23:11:14 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 23:11:14 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 23:11:14 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps
+[05/10 23:11:14 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.452s, found feasible grasp: True
+[05/10 23:11:14 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.362[m] 91.825[deg]
+[05/10 23:11:14 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 23:11:15 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 23:11:15 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 23:11:49 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 23:11:58 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 23:12:03 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 23:12:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 23:12:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 23:12:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 23:12:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 23:12:49 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 23:12:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 23:12:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 23:12:53 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 23:12:53 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 23:12:53 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 23:12:53 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 23:12:53 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 23:12:53 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.053s, found 78 non-colliding grasps
+[05/10 23:12:54 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.384s, found feasible grasp: True
+[05/10 23:12:54 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.452[deg]
+[05/10 23:12:54 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 23:12:54 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 23:12:54 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 23:12:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 23:12:57 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 23:12:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 23:13:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 23:13:14 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 23:13:18 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 23:13:56 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True
+[05/10 23:14:22 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_010
+[05/10 23:14:22 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_010 batch 3/4: 1 episodes
+[05/10 23:14:22 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 23:14:34 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 23:14:34 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010
+[05/10 23:14:34 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_010 in 12.41s (batch: 4.00s, save: 8.41s)
+[05/10 23:14:35 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 12 house 1 success=True episode_total=1.09s:
+  episode_total: mean=103.21s, total=309.64s, count=3, min=4564.0ms, max=201376.4ms
+  sensor_polling: mean=456.7ms, total=221.96s, count=486, min=389.8ms, max=884.8ms
+  physics_step: mean=22.3ms, total=10.84s, count=486, min=13.6ms, max=68.3ms
+  save_trajectories: mean=8.41s, total=8.41s, count=1, min=8408.3ms, max=8408.3ms
+  save_batch_prep: mean=4.00s, total=4.00s, count=1, min=4003.3ms, max=4003.3ms
+  task_sampling: mean=364.8ms, total=1.09s, count=3, min=307.0ms, max=445.9ms
+  task_specific_sample: mean=361.7ms, total=1.09s, count=3, min=304.1ms, max=442.2ms
+  scene_randomize: mean=1.6ms, total=4.8ms, count=3, min=1.1ms, max=2.5ms
+  mj_forward_sync: mean=443.4us, total=1.3ms, count=3, min=0.4ms, max=0.5ms
+  policy_setup: mean=16.5us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
+[05/10 23:14:37 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 23:14:37 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 23:14:37 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 23:14:37 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:14:37 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:14:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:14:37 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:14:37 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 23:14:37 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 23:14:37 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 23:14:37 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.089m, effective arm-mount z=0.949m (base_body_z=0.089m, pedestal_h=0.860m)
+[05/10 23:14:37 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 23:14:37 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 23:14:37 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.088841m
+[05/10 23:14:37 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 23:14:37 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 23:14:37 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 23:14:37 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -74.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:14:37 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.9141143   1.043622    0.08884136] yaw=-149.9deg
+[05/10 23:14:37 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 23:14:37 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 120.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:14:37 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 77.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:14:37 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.84054035  0.70336601  0.08884136] yaw=-167.7deg
+[05/10 23:14:37 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 23:14:37 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.60969059  0.43620205  0.08884136] yaw=172.1deg
+[05/10 23:14:37 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 23:14:37 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 23:14:37 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=380.5ms, total=380.5ms
+[05/10 23:14:37 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.914, 1.044, 0.089)
+[05/10 23:14:37 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -149.9 deg
+[05/10 23:14:37 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.968m
+[05/10 23:14:37 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:14:37 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:14:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:14:37 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:14:37 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 23:14:37 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 13/18 collected=0/3
+[05/10 23:14:37 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.111s
+[05/10 23:14:37 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 23:14:37 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 23:14:37 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.128s, found 88 non-colliding grasps
+[05/10 23:14:46 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 8.264s, found feasible grasp: True
+[05/10 23:14:46 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 203 (originally 88): w/ 0.582[m] 82.961[deg]
+[05/10 23:14:47 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 23:14:47 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 23:14:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 23:15:42 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 23:15:52 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 23:15:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 23:15:56 Worker 0 INFO base_object_manipulation_planner_policy.py:161] Object is not in grasp! 0.00000 < 0.002000
+[05/10 23:15:56 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 23:15:56 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 23:15:56 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 23:15:56 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 78 non-colliding grasps
+[05/10 23:15:57 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.360s, found feasible grasp: True
+[05/10 23:15:57 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.115[m] 2.631[deg]
+[05/10 23:15:57 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 23:15:57 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 23:15:57 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 23:16:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 23:16:17 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 23:16:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 23:17:11 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True
+[05/10 23:17:33 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_010
+[05/10 23:17:33 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_010 batch 3/4: 1 episodes
+[05/10 23:17:33 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 23:17:49 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 23:17:49 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010
+[05/10 23:17:49 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_010 in 15.33s (batch: 3.92s, save: 11.41s)
+[05/10 23:17:49 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 13 house 1 success=True episode_total=0.66s:
+  episode_total: mean=192.89s, total=192.89s, count=1, min=192888.7ms, max=192888.7ms
+  sensor_polling: mean=450.3ms, total=135.08s, count=300, min=387.2ms, max=841.2ms
+  save_trajectories: mean=11.41s, total=11.41s, count=1, min=11406.9ms, max=11406.9ms
+  physics_step: mean=20.5ms, total=6.14s, count=300, min=13.8ms, max=38.1ms
+  save_batch_prep: mean=3.92s, total=3.92s, count=1, min=3920.7ms, max=3920.7ms
+  task_sampling: mean=657.5ms, total=657.5ms, count=1, min=657.5ms, max=657.5ms
+  task_specific_sample: mean=650.2ms, total=650.2ms, count=1, min=650.2ms, max=650.2ms
+  scene_randomize: mean=6.0ms, total=6.0ms, count=1, min=6.0ms, max=6.0ms
+  mj_forward_sync: mean=449.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=20.8us, 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
+[05/10 23:17:51 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 23:17:51 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 23:17:51 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 23:17:51 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:17:51 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:17:51 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:17:51 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:17:51 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 23:17:51 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 23:17:51 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 23:17:51 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.054m, effective arm-mount z=0.914m (base_body_z=0.054m, pedestal_h=0.860m)
+[05/10 23:17:51 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 23:17:51 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 23:17:51 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.054046m
+[05/10 23:17:51 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 23:17:51 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 23:17:51 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 23:17:51 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -177.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:17:51 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.71513184  0.91201901  0.05404621] yaw=-150.5deg
+[05/10 23:17:51 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 23:17:51 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 58.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:17:51 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -75.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:17:51 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.94391485  0.50665513  0.05404621] yaw=-188.3deg
+[05/10 23:17:51 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 23:17:51 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.87642087  0.53795885  0.05404621] yaw=-170.7deg
+[05/10 23:17:51 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 23:17:51 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 23:17:51 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=168.0ms, total=168.1ms
+[05/10 23:17:51 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.715, 0.912, 0.054)
+[05/10 23:17:51 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -150.5 deg
+[05/10 23:17:51 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.077m
+[05/10 23:17:51 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:17:51 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:17:51 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:17:51 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:17:52 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 23:17:52 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 14/18 collected=0/3
+[05/10 23:17:52 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.079s
+[05/10 23:17:52 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 23:17:52 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 23:17:52 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps
+[05/10 23:17:53 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.546s, found feasible grasp: True
+[05/10 23:17:53 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 203 (originally 88): w/ 0.639[m] 71.985[deg]
+[05/10 23:17:53 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 23:17:54 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 23:17:54 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 23:18:54 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 23:19:02 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 23:19:06 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 23:20:20 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True
+[05/10 23:20:41 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_7/sim_chunks/chunk_010
+[05/10 23:20:41 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_010 batch 3/4: 1 episodes
+[05/10 23:20:41 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 23:20:57 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 23:20:57 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010
+[05/10 23:20:57 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_010 in 15.61s (batch: 4.30s, save: 11.30s)
+[05/10 23:20:57 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 14 house 1 success=True episode_total=0.46s:
+  episode_total: mean=186.10s, total=186.10s, count=1, min=186097.0ms, max=186097.0ms
+  sensor_polling: mean=455.8ms, total=136.73s, count=300, min=389.2ms, max=972.1ms
+  save_trajectories: mean=11.30s, total=11.30s, count=1, min=11300.6ms, max=11300.6ms
+  physics_step: mean=20.8ms, total=6.24s, count=300, min=15.1ms, max=49.0ms
+  save_batch_prep: mean=4.30s, total=4.30s, count=1, min=4304.5ms, max=4304.5ms
+  task_sampling: mean=456.2ms, total=456.2ms, count=1, min=456.2ms, max=456.2ms
+  task_specific_sample: mean=451.9ms, total=451.9ms, count=1, min=451.9ms, max=451.9ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=586.5us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=18.4us, 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
+[05/10 23:20:59 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 23:20:59 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 23:20:59 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 23:20:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:20:59 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:20:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:20:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:20:59 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 23:20:59 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 23:20:59 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 23:20:59 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.064m, effective arm-mount z=0.924m (base_body_z=0.064m, pedestal_h=0.860m)
+[05/10 23:20:59 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 23:20:59 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 23:20:59 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.064039m
+[05/10 23:20:59 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 23:20:59 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 23:20:59 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 23:20:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 84.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:20:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -63.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:20:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -174.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:20:59 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.63288581  0.28576038  0.06403896] yaw=175.2deg
+[05/10 23:20:59 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 23:20:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 119.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:20:59 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.00184497  0.77861849  0.06403896] yaw=-165.0deg
+[05/10 23:20:59 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 23:20:59 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 23:20:59 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=239.5ms, total=239.6ms
+[05/10 23:20:59 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.633, 0.286, 0.064)
+[05/10 23:20:59 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 175.2 deg
+[05/10 23:20:59 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.087m
+[05/10 23:20:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:20:59 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:20:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:20:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:20:59 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 23:20:59 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 15/18 collected=0/3
+[05/10 23:20:59 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.091s
+[05/10 23:20:59 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 23:20:59 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 23:20:59 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps
+[05/10 23:21:00 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.771s, found feasible grasp: True
+[05/10 23:21:00 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.655[m] 92.411[deg]
+[05/10 23:21:00 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 23:21:01 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 23:21:01 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 23:22:06 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 23:22:16 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 23:22:20 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 23:23:32 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True
+[05/10 23:23:57 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 13 to /scr/ravenh/fridge_7/sim_chunks/chunk_010
+[05/10 23:23:57 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_010 batch 3/4: 1 episodes
+[05/10 23:23:57 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 23:24:09 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 23:24:09 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010
+[05/10 23:24:09 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_010 in 12.29s (batch: 4.24s, save: 8.06s)
+[05/10 23:24:10 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 15 house 1 success=True episode_total=0.53s:
+  episode_total: mean=191.38s, total=191.38s, count=1, min=191378.0ms, max=191378.0ms
+  sensor_polling: mean=470.8ms, total=141.25s, count=300, min=410.7ms, max=864.4ms
+  save_trajectories: mean=8.06s, total=8.06s, count=1, min=8057.8ms, max=8057.8ms
+  physics_step: mean=23.0ms, total=6.91s, count=300, min=13.8ms, max=51.8ms
+  save_batch_prep: mean=4.24s, total=4.24s, count=1, min=4235.5ms, max=4235.5ms
+  task_sampling: mean=531.9ms, total=531.9ms, count=1, min=531.9ms, max=531.9ms
+  task_specific_sample: mean=528.4ms, total=528.4ms, count=1, min=528.4ms, max=528.4ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=394.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=20.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 23:24:12 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 23:24:12 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 23:24:12 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 23:24:12 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:24:12 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:24:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:24:12 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:24:12 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 23:24:12 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 23:24:12 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 23:24:12 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.061m, effective arm-mount z=0.921m (base_body_z=0.061m, pedestal_h=0.860m)
+[05/10 23:24:12 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 23:24:12 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 23:24:12 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.060582m
+[05/10 23:24:12 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 23:24:12 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 23:24:12 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 23:24:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 102.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:24:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 56.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:24:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -77.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:24:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 159.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:24:12 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.05135322  0.96133591  0.06058206] yaw=-151.0deg
+[05/10 23:24:12 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 23:24:12 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 23:24:12 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=160.8ms, total=160.9ms
+[05/10 23:24:12 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.051, 0.961, 0.061)
+[05/10 23:24:12 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -151.0 deg
+[05/10 23:24:12 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.808m
+[05/10 23:24:12 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:24:12 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:24:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:24:12 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:24:12 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 23:24:12 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 16/18 collected=0/3
+[05/10 23:24:13 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.087s
+[05/10 23:24:13 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 23:24:13 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 23:24:13 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.065s, found 88 non-colliding grasps
+[05/10 23:24:13 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.562s, found feasible grasp: True
+[05/10 23:24:13 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.391[m] 87.767[deg]
+[05/10 23:24:13 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 23:24:14 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 23:24:14 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 23:24:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 23:25:07 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 23:25:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 23:26:53 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 23:26:55 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 23:26:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 23:26:57 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 23:26:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 23:27:00 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 23:27:01 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True
+[05/10 23:27:27 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 14 to /scr/ravenh/fridge_7/sim_chunks/chunk_010
+[05/10 23:27:27 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_010 batch 3/4: 1 episodes
+[05/10 23:27:27 Worker 0 INFO save_utils.py:278] Preparing episode data: 300 timesteps
+[05/10 23:27:40 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 23:27:40 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010
+[05/10 23:27:40 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_010 in 13.38s (batch: 3.96s, save: 9.42s)
+[05/10 23:27:41 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 16 house 1 success=True episode_total=0.42s:
+  episode_total: mean=209.29s, total=209.29s, count=1, min=209286.3ms, max=209286.3ms
+  sensor_polling: mean=503.8ms, total=150.64s, count=299, min=409.7ms, max=1106.0ms
+  save_trajectories: mean=9.42s, total=9.42s, count=1, min=9421.0ms, max=9421.0ms
+  physics_step: mean=24.4ms, total=7.29s, count=299, min=14.3ms, max=95.4ms
+  save_batch_prep: mean=3.96s, total=3.96s, count=1, min=3960.0ms, max=3960.0ms
+  task_sampling: mean=420.9ms, total=420.9ms, count=1, min=420.9ms, max=420.9ms
+  task_specific_sample: mean=416.6ms, total=416.6ms, count=1, min=416.6ms, max=416.6ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=555.0us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=18.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 23:27:43 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 23:27:43 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 23:27:43 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 23:27:43 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:27:43 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:27:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:27:43 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:27:43 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 23:27:43 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 23:27:43 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 23:27:43 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.079m, effective arm-mount z=0.939m (base_body_z=0.079m, pedestal_h=0.860m)
+[05/10 23:27:43 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 23:27:43 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 23:27:43 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.079408m
+[05/10 23:27:43 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 23:27:43 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 23:27:43 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 23:27:43 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.66580879  0.69928241  0.07940835] yaw=-159.2deg
+[05/10 23:27:43 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 23:27:43 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.0228633   0.87934228  0.07940835] yaw=-150.7deg
+[05/10 23:27:43 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 23:27:43 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -52.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:27:43 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 76.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:27:43 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.7741667   0.03092141  0.07940835] yaw=154.0deg
+[05/10 23:27:43 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 23:27:43 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 23:27:43 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=142.4ms, total=142.4ms
+[05/10 23:27:43 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.666, 0.699, 0.079)
+[05/10 23:27:43 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -159.2 deg
+[05/10 23:27:43 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.059m
+[05/10 23:27:43 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:27:43 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:27:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:27:43 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:27:43 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 23:27:43 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 17/18 collected=0/3
+[05/10 23:27:44 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.111s
+[05/10 23:27:44 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 23:27:44 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 23:27:44 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.088s, found 88 non-colliding grasps
+[05/10 23:27:46 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.886s, found feasible grasp: True
+[05/10 23:27:46 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.639[m] 93.241[deg]
+[05/10 23:27:46 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 23:27:46 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 23:27:46 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 23:28:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 23:28:57 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 23:29:01 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 23:30:14 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True
+[05/10 23:30:37 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 15 to /scr/ravenh/fridge_7/sim_chunks/chunk_010
+[05/10 23:30:37 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_010 batch 3/4: 1 episodes
+[05/10 23:30:37 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 23:30:51 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 23:30:51 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010
+[05/10 23:30:51 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_010 in 13.85s (batch: 4.91s, save: 8.94s)
+[05/10 23:30:52 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 17 house 1 success=True episode_total=0.43s:
+  episode_total: mean=188.47s, total=188.47s, count=1, min=188466.9ms, max=188466.9ms
+  sensor_polling: mean=463.0ms, total=138.91s, count=300, min=399.4ms, max=758.3ms
+  save_trajectories: mean=8.94s, total=8.94s, count=1, min=8939.9ms, max=8939.9ms
+  physics_step: mean=22.1ms, total=6.64s, count=300, min=14.2ms, max=76.6ms
+  save_batch_prep: mean=4.91s, total=4.91s, count=1, min=4914.4ms, max=4914.4ms
+  task_sampling: mean=428.2ms, total=428.2ms, count=1, min=428.2ms, max=428.2ms
+  task_specific_sample: mean=423.5ms, total=423.5ms, count=1, min=423.5ms, max=423.5ms
+  scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
+  mj_forward_sync: mean=521.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=17.5us, 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
+[05/10 23:30:53 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_010
+[05/10 23:30:53 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_010
+[05/10 23:30:53 Worker 0 INFO pipeline.py:1323] Worker 0 completed house 1: 16/16 successful episodes
+[05/10 23:30:53 Worker 0 INFO profiler_utils.py:407] [PROFILE] House 1 complete: 16/16 successful, 16 episodes, total_time=5754.47s
+  House averages:
+  episode_total: mean=175.08s, total=3151.51s, count=18, min=4564.0ms, max=256257.0ms
+  sensor_polling: mean=457.1ms, total=2263.39s, count=4952, min=387.2ms, max=1106.0ms
+  save_trajectories: mean=8.88s, total=142.01s, count=16, min=7631.4ms, max=11406.9ms
+  physics_step: mean=21.6ms, total=106.93s, count=4952, min=12.4ms, max=105.0ms
+  save_batch_prep: mean=4.09s, total=65.49s, count=16, min=3868.7ms, max=4914.4ms
+  task_sampling: mean=600.5ms, total=10.81s, count=18, min=307.0ms, max=3555.9ms
+  task_specific_sample: mean=446.4ms, total=8.04s, count=18, min=304.1ms, max=850.2ms
+  scene_load: mean=2.70s, total=2.70s, count=1, min=2702.9ms, max=2702.9ms
+  scene_env_create: mean=1.73s, total=1.73s, count=1, min=1729.4ms, max=1729.4ms
+  scene_compile: mean=746.1ms, total=746.1ms, count=1, min=746.1ms, max=746.1ms
+  compile_mujoco: mean=513.8ms, total=513.8ms, count=1, min=513.8ms, max=513.8ms
+  scene_init: mean=188.0ms, total=188.0ms, count=1, min=188.0ms, max=188.0ms
+  compile_xml_load: mean=158.0ms, total=158.0ms, count=1, min=158.0ms, max=158.0ms
+  compile_aux_objects: mean=56.0ms, total=56.0ms, count=1, min=56.0ms, max=56.0ms
+  compile_aux_policy_objects: mean=56.0ms, total=56.0ms, count=1, min=56.0ms, max=56.0ms
+  scene_randomize: mean=2.6ms, total=46.1ms, count=18, min=1.1ms, max=6.0ms
+  scene_asset_install: mean=39.2ms, total=39.2ms, count=1, min=39.2ms, max=39.2ms
+  asset_install_grasps: mean=27.9ms, total=27.9ms, count=1, min=27.9ms, max=27.9ms
+  compile_robot_add: mean=9.5ms, total=9.5ms, count=1, min=9.5ms, max=9.5ms
+  asset_install_objects: mean=8.9ms, total=8.9ms, count=1, min=8.9ms, max=8.9ms
+  mj_forward_sync: mean=451.7us, total=8.1ms, count=18, min=0.4ms, max=0.6ms
+  asset_install_scene: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  policy_setup: mean=21.0us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
+[05/10 23:30:53 Worker 0 INFO pipeline.py:512] Worker 0 completed processing assigned houses
+[05/10 23:30:53 Worker 0 INFO profiler_utils.py:429] [PROFILE] Worker complete: 1 houses, 16 episodes, total_time=5754.47s
+  Worker averages:
+  episode_total: mean=175.08s, total=3151.51s, count=18, min=4564.0ms, max=256257.0ms
+  sensor_polling: mean=457.1ms, total=2263.39s, count=4952, min=387.2ms, max=1106.0ms
+  save_trajectories: mean=8.88s, total=142.01s, count=16, min=7631.4ms, max=11406.9ms
+  physics_step: mean=21.6ms, total=106.93s, count=4952, min=12.4ms, max=105.0ms
+  save_batch_prep: mean=4.09s, total=65.49s, count=16, min=3868.7ms, max=4914.4ms
+  task_sampling: mean=600.5ms, total=10.81s, count=18, min=307.0ms, max=3555.9ms
+  task_specific_sample: mean=446.4ms, total=8.04s, count=18, min=304.1ms, max=850.2ms
+  scene_load: mean=2.70s, total=2.70s, count=1, min=2702.9ms, max=2702.9ms
+  scene_env_create: mean=1.73s, total=1.73s, count=1, min=1729.4ms, max=1729.4ms
+  scene_compile: mean=746.1ms, total=746.1ms, count=1, min=746.1ms, max=746.1ms
+  compile_mujoco: mean=513.8ms, total=513.8ms, count=1, min=513.8ms, max=513.8ms
+  scene_init: mean=188.0ms, total=188.0ms, count=1, min=188.0ms, max=188.0ms
+  compile_xml_load: mean=158.0ms, total=158.0ms, count=1, min=158.0ms, max=158.0ms
+  compile_aux_objects: mean=56.0ms, total=56.0ms, count=1, min=56.0ms, max=56.0ms
+  compile_aux_policy_objects: mean=56.0ms, total=56.0ms, count=1, min=56.0ms, max=56.0ms
+  scene_randomize: mean=2.6ms, total=46.1ms, count=18, min=1.1ms, max=6.0ms
+  scene_asset_install: mean=39.2ms, total=39.2ms, count=1, min=39.2ms, max=39.2ms
+  asset_install_grasps: mean=27.9ms, total=27.9ms, count=1, min=27.9ms, max=27.9ms
+  compile_robot_add: mean=9.5ms, total=9.5ms, count=1, min=9.5ms, max=9.5ms
+  asset_install_objects: mean=8.9ms, total=8.9ms, count=1, min=8.9ms, max=8.9ms
+  mj_forward_sync: mean=451.7us, total=8.1ms, count=18, min=0.4ms, max=0.6ms
+  asset_install_scene: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  policy_setup: mean=21.0us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
+[05/10 23:30:55 INFO pipeline.py:1488] Completed 1 houses, skipped 0 houses
+[05/10 23:30:55 INFO pipeline.py:1491] Success count: 16, Total count: 16
+[05/10 23:30:55 INFO pipeline.py:1492] Success rate: 100.00%
+Failed to import warp: No module named 'warp'
+Failed to import mujoco_warp: No module named 'warp'
+Using SCENES_ROOT: /svl/u/ravenh/renderscale/molmospaces/assets/scenes
+==========================================
+Done. Shard 3/4 data saved under /scr/ravenh/fridge_7/sim_chunks/chunk_010
+==========================================
diff --git a/fridge_7/chunk_010/shard_4_of_4.log b/fridge_7/chunk_010/shard_4_of_4.log
index 4d2b0961aabb7643861f18eeee879aa4dde758a0..664bdd2ed080362d32b92091aabf605f54155362 100644
--- a/fridge_7/chunk_010/shard_4_of_4.log
+++ b/fridge_7/chunk_010/shard_4_of_4.log
@@ -1086,3 +1086,616 @@ ValueError: Failed to place robot near object: Fridge_7_upside_down_root
 [05/10 23:05:35 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
 [05/10 23:05:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
 [05/10 23:05:40 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 23:05:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 23:05:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 23:05:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 23:05:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 23:05:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 23:05:52 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 23:05:52 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3
+[05/10 23:05:52 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 23:05:52 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 23:05:52 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 82 non-colliding grasps
+[05/10 23:05:53 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 82 grasps in 1.481s, found feasible grasp: True
+[05/10 23:05:53 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.112[m] 0.211[deg]
+[05/10 23:05:54 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 10 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 23:05:56 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 23:05:56 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 23:05:56 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 23:05:56 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:05:56 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:05:56 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:05:56 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:05:56 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 23:05:56 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 23:05:56 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 23:05:56 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.020m, effective arm-mount z=0.880m (base_body_z=0.020m, pedestal_h=0.860m)
+[05/10 23:05:56 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 23:05:56 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 23:05:56 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.019915m
+[05/10 23:05:56 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 23:05:56 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 23:05:56 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 23:05:56 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -39.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:05:56 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -54.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:05:56 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.99644143  1.19127703  0.01991548] yaw=-135.0deg
+[05/10 23:05:56 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 23:05:56 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -56.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:05:56 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.75406384  0.6496604   0.01991548] yaw=-163.7deg
+[05/10 23:05:56 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 23:05:56 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.0122268   0.89200526  0.01991548] yaw=-150.4deg
+[05/10 23:05:56 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 23:05:56 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 23:05:56 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=131.5ms, total=131.5ms
+[05/10 23:05:56 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.996, 1.191, 0.020)
+[05/10 23:05:56 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -135.0 deg
+[05/10 23:05:56 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.001m
+[05/10 23:05:56 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:05:56 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:05:56 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:05:56 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:05:56 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 23:05:56 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 11/18 collected=0/3
+[05/10 23:05:56 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.047s
+[05/10 23:05:56 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 23:05:56 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 23:05:56 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.042s, found 88 non-colliding grasps
+[05/10 23:05:58 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.515s, found feasible grasp: True
+[05/10 23:05:58 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.550[m] 83.156[deg]
+[05/10 23:05:59 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 11 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
+    observation, _info = task.reset()  # don't update env after reset!
+                         ^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
+    self._registered_policy.reset()
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 23:06:01 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 23:06:01 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 23:06:01 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 23:06:01 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:06:01 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:06:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:06:01 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:06:01 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 23:06:01 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 23:06:01 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 23:06:01 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.061m, effective arm-mount z=0.921m (base_body_z=0.061m, pedestal_h=0.860m)
+[05/10 23:06:01 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 23:06:01 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 23:06:01 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.060513m
+[05/10 23:06:01 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 23:06:01 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 23:06:01 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 23:06:01 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 73.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:06:01 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 88.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:06:01 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -57.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:06:01 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 62.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:06:01 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.92512675  0.87453013  0.06051314] yaw=-149.7deg
+[05/10 23:06:01 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 23:06:01 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.836714    0.21346093  0.06051314] yaw=174.1deg
+[05/10 23:06:01 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 23:06:01 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.76436377  0.22133847  0.06051314] yaw=155.0deg
+[05/10 23:06:01 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 23:06:01 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 23:06:01 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=187.9ms, total=187.9ms
+[05/10 23:06:01 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.925, 0.875, 0.061)
+[05/10 23:06:01 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -149.7 deg
+[05/10 23:06:01 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.871m
+[05/10 23:06:01 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:06:01 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:06:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:06:01 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:06:01 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 23:06:01 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 12/18 collected=0/3
+[05/10 23:06:01 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.050s
+[05/10 23:06:01 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 23:06:01 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 23:06:01 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps
+[05/10 23:06:02 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.516s, found feasible grasp: True
+[05/10 23:06:02 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.450[m] 88.944[deg]
+[05/10 23:06:02 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 23:06:02 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 23:06:02 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 23:06:42 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 23:06:51 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 23:06:55 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 23:08:28 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True
+[05/10 23:08:50 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_010
+[05/10 23:08:50 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_010 batch 4/4: 1 episodes
+[05/10 23:08:50 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 23:09:04 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 23:09:04 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010
+[05/10 23:09:04 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_010 in 13.71s (batch: 4.83s, save: 8.87s)
+[05/10 23:09:04 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 12 house 1 success=True episode_total=1.14s:
+  episode_total: mean=88.13s, total=352.51s, count=4, min=199.9ms, max=183659.1ms
+  sensor_polling: mean=457.2ms, total=260.63s, count=570, min=390.9ms, max=932.9ms
+  physics_step: mean=21.1ms, total=12.02s, count=570, min=13.7ms, max=52.4ms
+  save_trajectories: mean=8.87s, total=8.87s, count=1, min=8873.8ms, max=8873.8ms
+  save_batch_prep: mean=4.83s, total=4.83s, count=1, min=4834.6ms, max=4834.6ms
+  task_specific_sample: mean=332.2ms, total=1.33s, count=4, min=192.6ms, max=427.2ms
+  task_sampling: mean=381.6ms, total=1.14s, count=3, min=346.8ms, max=430.9ms
+  task_sampling_failed: mean=199.9ms, total=199.9ms, count=1, min=199.9ms, max=199.9ms
+  scene_randomize: mean=1.7ms, total=7.0ms, count=4, min=1.1ms, max=3.4ms
+  mj_forward_sync: mean=431.2us, total=1.7ms, count=4, min=0.4ms, max=0.6ms
+  policy_setup: mean=15.4us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms
+[05/10 23:09:06 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 23:09:06 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 23:09:06 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 23:09:06 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:09:06 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:09:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:09:06 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:09:06 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 23:09:06 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 23:09:06 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 23:09:06 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.010m, effective arm-mount z=0.870m (base_body_z=0.010m, pedestal_h=0.860m)
+[05/10 23:09:06 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 23:09:06 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 23:09:06 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.009666m
+[05/10 23:09:06 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 23:09:06 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 23:09:06 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 23:09:06 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.76303089  0.33473873  0.00966643] yaw=163.1deg
+[05/10 23:09:06 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 23:09:06 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.97934995  1.14923109  0.00966643] yaw=-132.5deg
+[05/10 23:09:06 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 23:09:06 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 91.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:09:06 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -30.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:09:06 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -66.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:09:06 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.70376472  0.50597531  0.00966643] yaw=-172.4deg
+[05/10 23:09:06 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 23:09:06 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 23:09:06 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=169.0ms, total=169.0ms
+[05/10 23:09:06 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.763, 0.335, 0.010)
+[05/10 23:09:06 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 163.1 deg
+[05/10 23:09:06 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.951m
+[05/10 23:09:06 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:09:06 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:09:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:09:06 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:09:06 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 23:09:06 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 13/18 collected=0/3
+[05/10 23:09:06 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.076s
+[05/10 23:09:06 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 23:09:06 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 23:09:06 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps
+[05/10 23:09:07 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.448s, found feasible grasp: True
+[05/10 23:09:07 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.497[m] 86.199[deg]
+[05/10 23:09:07 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 23:09:07 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 23:09:07 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 23:09:53 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 23:10:02 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 23:10:06 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 23:11:49 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True
+[05/10 23:12:15 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_010
+[05/10 23:12:15 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_010 batch 4/4: 1 episodes
+[05/10 23:12:15 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 23:12:27 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 23:12:27 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010
+[05/10 23:12:27 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_010 in 12.40s (batch: 4.32s, save: 8.08s)
+[05/10 23:12:28 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 13 house 1 success=True episode_total=0.42s:
+  episode_total: mean=202.02s, total=202.02s, count=1, min=202020.5ms, max=202020.5ms
+  sensor_polling: mean=459.3ms, total=137.78s, count=300, min=392.1ms, max=769.1ms
+  save_trajectories: mean=8.08s, total=8.08s, count=1, min=8080.1ms, max=8080.1ms
+  physics_step: mean=20.9ms, total=6.26s, count=300, min=15.5ms, max=39.8ms
+  save_batch_prep: mean=4.32s, total=4.32s, count=1, min=4323.5ms, max=4323.5ms
+  task_sampling: mean=423.9ms, total=423.9ms, count=1, min=423.9ms, max=423.9ms
+  task_specific_sample: mean=419.7ms, total=419.7ms, count=1, min=419.7ms, max=419.7ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=532.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=17.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 23:12:29 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 23:12:29 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 23:12:29 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 23:12:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:12:29 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:12:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:12:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:12:29 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 23:12:29 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 23:12:29 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 23:12:29 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.031m, effective arm-mount z=0.891m (base_body_z=0.031m, pedestal_h=0.860m)
+[05/10 23:12:29 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 23:12:29 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 23:12:29 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.031121m
+[05/10 23:12:29 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 23:12:29 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 23:12:29 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 23:12:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.88450412  0.87225546  0.03112136] yaw=-148.4deg
+[05/10 23:12:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 23:12:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.82583343  1.10198974  0.03112136] yaw=-145.9deg
+[05/10 23:12:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 23:12:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -44.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:12:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 125.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:12:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.6833781   0.87154561  0.03112136] yaw=-153.5deg
+[05/10 23:12:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 23:12:29 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 23:12:29 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=166.8ms, total=166.9ms
+[05/10 23:12:29 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.885, 0.872, 0.031)
+[05/10 23:12:29 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -148.4 deg
+[05/10 23:12:29 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.906m
+[05/10 23:12:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:12:29 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:12:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:12:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:12:30 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 23:12:30 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 14/18 collected=0/3
+[05/10 23:12:30 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.091s
+[05/10 23:12:30 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 23:12:30 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 23:12:30 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.061s, found 88 non-colliding grasps
+[05/10 23:12:31 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.792s, found feasible grasp: True
+[05/10 23:12:31 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.507[m] 92.821[deg]
+[05/10 23:12:31 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 23:12:31 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 23:12:31 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 23:13:17 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 23:13:26 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 23:13:30 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 23:14:57 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True
+[05/10 23:15:21 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_010
+[05/10 23:15:21 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_010 batch 4/4: 1 episodes
+[05/10 23:15:21 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 23:15:33 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 23:15:33 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010
+[05/10 23:15:33 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_010 in 11.94s (batch: 3.98s, save: 7.97s)
+[05/10 23:15:34 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 14 house 1 success=True episode_total=0.47s:
+  episode_total: mean=184.63s, total=184.63s, count=1, min=184628.9ms, max=184628.9ms
+  sensor_polling: mean=453.5ms, total=136.04s, count=300, min=376.4ms, max=793.5ms
+  save_trajectories: mean=7.97s, total=7.97s, count=1, min=7967.1ms, max=7967.1ms
+  physics_step: mean=21.2ms, total=6.37s, count=300, min=14.1ms, max=58.6ms
+  save_batch_prep: mean=3.98s, total=3.98s, count=1, min=3977.5ms, max=3977.5ms
+  task_sampling: mean=470.2ms, total=470.2ms, count=1, min=470.2ms, max=470.2ms
+  task_specific_sample: mean=465.7ms, total=465.7ms, count=1, min=465.7ms, max=465.7ms
+  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
+  mj_forward_sync: mean=549.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=22.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 23:15:35 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 23:15:35 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 23:15:35 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 23:15:35 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:15:35 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:15:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:15:35 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:15:35 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 23:15:35 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 23:15:35 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 23:15:35 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.051m, effective arm-mount z=0.911m (base_body_z=0.051m, pedestal_h=0.860m)
+[05/10 23:15:35 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 23:15:35 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 23:15:35 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.050939m
+[05/10 23:15:35 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 23:15:35 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 23:15:35 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 23:15:35 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.77535592  0.1748737   0.05093892] yaw=172.4deg
+[05/10 23:15:35 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 23:15:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -178.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:15:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -72.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:15:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 92.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:15:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.72993338  0.81569096  0.05093892] yaw=-163.1deg
+[05/10 23:15:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 23:15:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.79251365  0.89827407  0.05093892] yaw=-148.1deg
+[05/10 23:15:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 23:15:36 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 23:15:36 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=120.4ms, total=120.4ms
+[05/10 23:15:36 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.775, 0.175, 0.051)
+[05/10 23:15:36 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 172.4 deg
+[05/10 23:15:36 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.977m
+[05/10 23:15:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:15:36 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:15:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:15:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:15:36 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 23:15:36 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 15/18 collected=0/3
+[05/10 23:15:36 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.065s
+[05/10 23:15:36 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 23:15:36 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 23:15:36 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps
+[05/10 23:15:36 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.519s, found feasible grasp: True
+[05/10 23:15:36 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.550[m] 89.410[deg]
+[05/10 23:15:36 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 23:15:37 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 23:15:37 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 23:16:27 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 23:16:36 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 23:16:41 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 23:17:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 23:18:01 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 23:18:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 23:18:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 23:18:05 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 23:18:07 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 23:18:08 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 23:18:10 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 23:18:10 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 23:18:10 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 23:18:10 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 23:18:10 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 23:18:10 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 78 non-colliding grasps
+[05/10 23:18:10 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.471s, found feasible grasp: True
+[05/10 23:18:10 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.867[deg]
+[05/10 23:18:10 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 23:18:11 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 23:18:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 23:18:14 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True
+[05/10 23:18:38 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_010
+[05/10 23:18:38 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_010 batch 4/4: 1 episodes
+[05/10 23:18:38 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 23:18:50 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 23:18:50 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010
+[05/10 23:18:50 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_010 in 12.87s (batch: 3.81s, save: 9.06s)
+[05/10 23:18:51 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 15 house 1 success=True episode_total=0.37s:
+  episode_total: mean=195.53s, total=195.53s, count=1, min=195529.9ms, max=195529.9ms
+  sensor_polling: mean=457.0ms, total=137.09s, count=300, min=383.9ms, max=931.5ms
+  save_trajectories: mean=9.06s, total=9.06s, count=1, min=9058.0ms, max=9058.0ms
+  physics_step: mean=22.0ms, total=6.59s, count=300, min=13.7ms, max=71.3ms
+  save_batch_prep: mean=3.81s, total=3.81s, count=1, min=3808.5ms, max=3808.5ms
+  task_sampling: mean=368.1ms, total=368.1ms, count=1, min=368.1ms, max=368.1ms
+  task_specific_sample: mean=363.8ms, total=363.8ms, count=1, min=363.8ms, max=363.8ms
+  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
+  mj_forward_sync: mean=538.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=17.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 23:18:53 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 23:18:53 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 23:18:53 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 23:18:53 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:18:53 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:18:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:18:53 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:18:53 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 23:18:53 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 23:18:53 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 23:18:53 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.050m, effective arm-mount z=0.910m (base_body_z=0.050m, pedestal_h=0.860m)
+[05/10 23:18:53 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 23:18:53 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 23:18:53 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.049946m
+[05/10 23:18:53 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 23:18:53 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 23:18:53 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 23:18:53 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 90.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:18:53 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 105.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:18:53 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -48.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:18:53 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.94939974  0.64360502  0.0499456 ] yaw=-168.7deg
+[05/10 23:18:53 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 23:18:53 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 56.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:18:53 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.15025367  1.07719425  0.0499456 ] yaw=-143.5deg
+[05/10 23:18:53 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 23:18:53 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.11207081  0.9852136   0.0499456 ] yaw=-138.2deg
+[05/10 23:18:53 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 23:18:53 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 23:18:53 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=153.2ms, total=153.3ms
+[05/10 23:18:53 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.949, 0.644, 0.050)
+[05/10 23:18:53 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -168.7 deg
+[05/10 23:18:53 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.770m
+[05/10 23:18:53 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:18:53 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:18:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:18:53 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:18:53 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 23:18:53 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 16/18 collected=0/3
+[05/10 23:18:53 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.064s
+[05/10 23:18:53 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 23:18:53 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 23:18:53 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps
+[05/10 23:18:54 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.415s, found feasible grasp: True
+[05/10 23:18:54 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.377[m] 102.274[deg]
+[05/10 23:18:54 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 23:18:54 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 23:18:54 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 23:19:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 23:19:37 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 23:19:41 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 23:21:25 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True
+[05/10 23:21:47 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_010
+[05/10 23:21:47 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_010 batch 4/4: 1 episodes
+[05/10 23:21:47 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 23:22:01 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 23:22:01 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010
+[05/10 23:22:01 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_010 in 13.91s (batch: 3.86s, save: 10.05s)
+[05/10 23:22:02 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 16 house 1 success=True episode_total=0.42s:
+  episode_total: mean=189.05s, total=189.05s, count=1, min=189051.2ms, max=189051.2ms
+  sensor_polling: mean=462.5ms, total=138.74s, count=300, min=384.5ms, max=944.0ms
+  save_trajectories: mean=10.05s, total=10.05s, count=1, min=10054.9ms, max=10054.9ms
+  physics_step: mean=21.4ms, total=6.43s, count=300, min=16.8ms, max=47.9ms
+  save_batch_prep: mean=3.86s, total=3.86s, count=1, min=3857.2ms, max=3857.2ms
+  task_sampling: mean=416.7ms, total=416.7ms, count=1, min=416.7ms, max=416.7ms
+  task_specific_sample: mean=413.1ms, total=413.1ms, count=1, min=413.1ms, max=413.1ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=380.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=34.2us, 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
+[05/10 23:22:03 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 23:22:03 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 23:22:03 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 23:22:03 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:22:03 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:22:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:22:03 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:22:03 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 23:22:03 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 23:22:03 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 23:22:03 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.035m, effective arm-mount z=0.895m (base_body_z=0.035m, pedestal_h=0.860m)
+[05/10 23:22:03 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 23:22:03 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 23:22:03 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034938m
+[05/10 23:22:03 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 23:22:03 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 23:22:03 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 23:22:03 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -174.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:22:03 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 108.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:22:03 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 166.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:22:03 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 76.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:22:03 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -31.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:22:03 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.96926983  0.96649758  0.03493774] yaw=-155.2deg
+[05/10 23:22:03 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 23:22:03 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.00193814  1.08350053  0.03493774] yaw=-132.2deg
+[05/10 23:22:03 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 23:22:03 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.82263298  0.12315937  0.03493774] yaw=166.8deg
+[05/10 23:22:03 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 23:22:03 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 23:22:03 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=187.5ms, total=187.5ms
+[05/10 23:22:03 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.969, 0.966, 0.035)
+[05/10 23:22:03 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -155.2 deg
+[05/10 23:22:03 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.879m
+[05/10 23:22:03 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:22:03 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:22:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:22:03 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:22:04 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 23:22:04 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 17/18 collected=0/3
+[05/10 23:22:04 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.074s
+[05/10 23:22:04 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 23:22:04 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 23:22:04 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps
+[05/10 23:22:04 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.519s, found feasible grasp: True
+[05/10 23:22:04 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.438[m] 78.846[deg]
+[05/10 23:22:04 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 23:22:05 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 23:22:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 23:22:43 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 23:22:53 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 23:22:57 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 23:24:39 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True
+[05/10 23:25:05 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_7/sim_chunks/chunk_010
+[05/10 23:25:05 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_010 batch 4/4: 1 episodes
+[05/10 23:25:05 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 23:25:18 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 23:25:18 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_010
+[05/10 23:25:18 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_010 in 13.33s (batch: 4.35s, save: 8.99s)
+[05/10 23:25:18 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 17 house 1 success=True episode_total=0.44s:
+  episode_total: mean=195.24s, total=195.24s, count=1, min=195236.2ms, max=195236.2ms
+  sensor_polling: mean=483.8ms, total=145.13s, count=300, min=404.4ms, max=942.8ms
+  save_trajectories: mean=8.99s, total=8.99s, count=1, min=8987.3ms, max=8987.3ms
+  physics_step: mean=22.7ms, total=6.82s, count=300, min=14.3ms, max=94.0ms
+  save_batch_prep: mean=4.35s, total=4.35s, count=1, min=4346.9ms, max=4346.9ms
+  task_sampling: mean=442.4ms, total=442.4ms, count=1, min=442.4ms, max=442.4ms
+  task_specific_sample: mean=439.2ms, total=439.2ms, count=1, min=439.2ms, max=439.2ms
+  scene_randomize: mean=2.0ms, total=2.0ms, count=1, min=2.0ms, max=2.0ms
+  mj_forward_sync: mean=377.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 23:25:21 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_010
+[05/10 23:25:21 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_010
+[05/10 23:25:21 Worker 0 INFO pipeline.py:1323] Worker 0 completed house 1: 13/13 successful episodes
+[05/10 23:25:21 Worker 0 INFO profiler_utils.py:407] [PROFILE] House 1 complete: 13/13 successful, 13 episodes, total_time=5179.67s
+  House averages:
+  episode_total: mean=156.63s, total=2819.29s, count=18, min=199.9ms, max=202020.5ms
+  sensor_polling: mean=454.5ms, total=2073.64s, count=4562, min=376.4ms, max=944.0ms
+  save_trajectories: mean=8.63s, total=112.15s, count=13, min=6821.8ms, max=10761.9ms
+  physics_step: mean=21.3ms, total=96.95s, count=4562, min=13.5ms, max=94.0ms
+  save_batch_prep: mean=4.04s, total=52.46s, count=13, min=3696.0ms, max=4834.6ms
+  task_sampling: mean=619.8ms, total=10.54s, count=17, min=346.8ms, max=3854.6ms
+  task_specific_sample: mean=437.8ms, total=7.88s, count=18, min=192.6ms, max=1063.9ms
+  scene_load: mean=2.79s, total=2.79s, count=1, min=2786.8ms, max=2786.8ms
+  scene_env_create: mean=1.73s, total=1.73s, count=1, min=1727.6ms, max=1727.6ms
+  scene_compile: mean=773.8ms, total=773.8ms, count=1, min=773.8ms, max=773.8ms
+  compile_mujoco: mean=576.3ms, total=576.3ms, count=1, min=576.3ms, max=576.3ms
+  task_sampling_failed: mean=199.9ms, total=199.9ms, count=1, min=199.9ms, max=199.9ms
+  scene_asset_install: mean=143.8ms, total=143.8ms, count=1, min=143.8ms, max=143.8ms
+  compile_xml_load: mean=143.4ms, total=143.4ms, count=1, min=143.4ms, max=143.4ms
+  scene_init: mean=141.3ms, total=141.3ms, count=1, min=141.3ms, max=141.3ms
+  asset_install_grasps: mean=78.6ms, total=78.6ms, count=1, min=78.6ms, max=78.6ms
+  asset_install_objects: mean=40.0ms, total=40.0ms, count=1, min=40.0ms, max=40.0ms
+  compile_aux_objects: mean=39.7ms, total=39.7ms, count=1, min=39.7ms, max=39.7ms
+  compile_aux_policy_objects: mean=39.6ms, total=39.6ms, count=1, min=39.6ms, max=39.6ms
+  scene_randomize: mean=2.2ms, total=39.5ms, count=18, min=1.1ms, max=3.4ms
+  asset_install_scene: mean=25.3ms, total=25.3ms, count=1, min=25.3ms, max=25.3ms
+  mj_forward_sync: mean=460.8us, total=8.3ms, count=18, min=0.4ms, max=0.6ms
+  compile_robot_add: mean=6.3ms, total=6.3ms, count=1, min=6.3ms, max=6.3ms
+  policy_setup: mean=22.0us, 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
+[05/10 23:25:21 Worker 0 INFO pipeline.py:512] Worker 0 completed processing assigned houses
+[05/10 23:25:21 Worker 0 INFO profiler_utils.py:429] [PROFILE] Worker complete: 1 houses, 13 episodes, total_time=5179.67s
+  Worker averages:
+  episode_total: mean=156.63s, total=2819.29s, count=18, min=199.9ms, max=202020.5ms
+  sensor_polling: mean=454.5ms, total=2073.64s, count=4562, min=376.4ms, max=944.0ms
+  save_trajectories: mean=8.63s, total=112.15s, count=13, min=6821.8ms, max=10761.9ms
+  physics_step: mean=21.3ms, total=96.95s, count=4562, min=13.5ms, max=94.0ms
+  save_batch_prep: mean=4.04s, total=52.46s, count=13, min=3696.0ms, max=4834.6ms
+  task_sampling: mean=619.8ms, total=10.54s, count=17, min=346.8ms, max=3854.6ms
+  task_specific_sample: mean=437.8ms, total=7.88s, count=18, min=192.6ms, max=1063.9ms
+  scene_load: mean=2.79s, total=2.79s, count=1, min=2786.8ms, max=2786.8ms
+  scene_env_create: mean=1.73s, total=1.73s, count=1, min=1727.6ms, max=1727.6ms
+  scene_compile: mean=773.8ms, total=773.8ms, count=1, min=773.8ms, max=773.8ms
+  compile_mujoco: mean=576.3ms, total=576.3ms, count=1, min=576.3ms, max=576.3ms
+  task_sampling_failed: mean=199.9ms, total=199.9ms, count=1, min=199.9ms, max=199.9ms
+  scene_asset_install: mean=143.8ms, total=143.8ms, count=1, min=143.8ms, max=143.8ms
+  compile_xml_load: mean=143.4ms, total=143.4ms, count=1, min=143.4ms, max=143.4ms
+  scene_init: mean=141.3ms, total=141.3ms, count=1, min=141.3ms, max=141.3ms
+  asset_install_grasps: mean=78.6ms, total=78.6ms, count=1, min=78.6ms, max=78.6ms
+  asset_install_objects: mean=40.0ms, total=40.0ms, count=1, min=40.0ms, max=40.0ms
+  compile_aux_objects: mean=39.7ms, total=39.7ms, count=1, min=39.7ms, max=39.7ms
+  compile_aux_policy_objects: mean=39.6ms, total=39.6ms, count=1, min=39.6ms, max=39.6ms
+  scene_randomize: mean=2.2ms, total=39.5ms, count=18, min=1.1ms, max=3.4ms
+  asset_install_scene: mean=25.3ms, total=25.3ms, count=1, min=25.3ms, max=25.3ms
+  mj_forward_sync: mean=460.8us, total=8.3ms, count=18, min=0.4ms, max=0.6ms
+  compile_robot_add: mean=6.3ms, total=6.3ms, count=1, min=6.3ms, max=6.3ms
+  policy_setup: mean=22.0us, 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
+[05/10 23:25:23 INFO pipeline.py:1488] Completed 1 houses, skipped 0 houses
+[05/10 23:25:23 INFO pipeline.py:1491] Success count: 13, Total count: 13
+[05/10 23:25:23 INFO pipeline.py:1492] Success rate: 100.00%
+Failed to import warp: No module named 'warp'
+Failed to import mujoco_warp: No module named 'warp'
+Using SCENES_ROOT: /svl/u/ravenh/renderscale/molmospaces/assets/scenes
+==========================================
+Done. Shard 4/4 data saved under /scr/ravenh/fridge_7/sim_chunks/chunk_010
+==========================================
diff --git a/fridge_7/chunk_010/trajectories_batch_1_of_4_cam_rand.h5 b/fridge_7/chunk_010/trajectories_batch_1_of_4_cam_rand.h5
index 1facb8436fbb9a84eece21dffd3c167976c7f88f..c63be5ee653492f990ae71b412dac49f8064d5c1 100644
--- a/fridge_7/chunk_010/trajectories_batch_1_of_4_cam_rand.h5
+++ b/fridge_7/chunk_010/trajectories_batch_1_of_4_cam_rand.h5
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diff --git a/fridge_7/chunk_010/trajectories_batch_2_of_4_cam_rand.h5 b/fridge_7/chunk_010/trajectories_batch_2_of_4_cam_rand.h5
index d00c6a459492e269b4af1a7b984c3a0fe475f72c..35f56009f56a549745c1a0908682137cccefd371 100644
--- a/fridge_7/chunk_010/trajectories_batch_2_of_4_cam_rand.h5
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diff --git a/fridge_7/chunk_010/trajectories_batch_3_of_4_cam_rand.h5 b/fridge_7/chunk_010/trajectories_batch_3_of_4_cam_rand.h5
index 5b768b7b60390c867bb4bb95ed93ed05f728b492..b633bcb4a6c0a0d31fa422a5c71265026b647074 100644
--- a/fridge_7/chunk_010/trajectories_batch_3_of_4_cam_rand.h5
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+05/10 23:31:24 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/10 23:31:24 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/10 23:31:24 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/10 23:31:24 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_7/sim_chunks/chunk_011'),
+ '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 0x753bc767d990>,
+ 'robot_config': {'K_damping': None,
+                  'K_stiffness': None,
+                  '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_7',
+ 'seed': 21103,
+ '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': 0.2,
+                         '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]
+05/10 23:31:24 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]
+05/10 23:31:24 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/10 23:31:24 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/10 23:31:25 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/10 23:31:25 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/10 23:31:25 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/10 23:31:25 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_7/sim_chunks/chunk_011'),
+ '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 0x7ad4beefc7d0>,
+ 'robot_config': {'K_damping': None,
+                  'K_stiffness': None,
+                  '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_7',
+ 'seed': 21104,
+ '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': 0.2,
+                         '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]
+05/10 23:31:25 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]
+05/10 23:31:25 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/10 23:31:25 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/10 23:31:25 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/10 23:31:25 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/10 23:31:25 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/10 23:31:25 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/10 23:31:25 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/10 23:31:25 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_7/sim_chunks/chunk_011'),
+ '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 0x7c9013a26b10>,
+ 'robot_config': {'K_damping': None,
+                  'K_stiffness': None,
+                  '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_7',
+ 'seed': 21101,
+ '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': 0.2,
+                         '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]
+05/10 23:31:25 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]
+05/10 23:31:25 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/10 23:31:25 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/10 23:31:25 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/10 23:31:26 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/10 23:31:26 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/10 23:31:26 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/10 23:31:26 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_7/sim_chunks/chunk_011'),
+ '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 0x76b1b3d2ba10>,
+ 'robot_config': {'K_damping': None,
+                  'K_stiffness': None,
+                  '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_7',
+ 'seed': 21102,
+ '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': 0.2,
+                         '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]
+05/10 23:31:26 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]
+05/10 23:31:26 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/10 23:31:26 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/10 23:31:26 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/10 23:31:28 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/10 23:31:28 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/10 23:31:28 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/10 23:31:28 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/10 23:31:28 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/10 23:31:28 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/10 23:31:28 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/10 23:31:28 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 23:31:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 23:31:28 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/10 23:31:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:31:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:31:28 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 23:31:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:31:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 23:31:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:31:28 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 23:31:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:31:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:31:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:31:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:31:28 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 23:31:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 23:31:28 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]
+05/10 23:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 23:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 23:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.036596m	[env.py: 870]
+05/10 23:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 23:31:28 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/10 23:31:28 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 23:31:28 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 23:31:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 23:31:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.077m, effective arm-mount z=0.937m (base_body_z=0.077m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 23:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 23:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 23:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.076782m	[env.py: 870]
+05/10 23:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 23:31:28 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/10 23:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 23:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 23:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 78.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -36.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 169.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -54.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 78.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 62.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 67.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -79.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -52.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.8288799   0.76985789  0.0365958 ] yaw=-167.4deg	[env.py: 1019]
+05/10 23:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 23:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.93678307  0.8402857   0.07678213] yaw=-149.7deg	[env.py: 1019]
+05/10 23:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 23:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 23:31:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=15.0ms, retries=289.5ms, total=304.5ms	[env.py: 1075]
+05/10 23:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.829, 0.770, 0.037)	[env.py: 1079]
+05/10 23:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -167.4 deg	[env.py: 1082]
+05/10 23:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.920m	[env.py: 1086]
+05/10 23:31:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:31:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:31:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:31:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.76813749  0.21635655  0.07678213] yaw=152.8deg	[env.py: 1019]
+05/10 23:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 23:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.68157984  0.81878541  0.07678213] yaw=-172.9deg	[env.py: 1019]
+05/10 23:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 23:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 23:31:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=15.0ms, retries=355.5ms, total=370.5ms	[env.py: 1075]
+05/10 23:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.937, 0.840, 0.077)	[env.py: 1079]
+05/10 23:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -149.7 deg	[env.py: 1082]
+05/10 23:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.845m	[env.py: 1086]
+05/10 23:31:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:31:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:31:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:31:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:31:28 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/10 23:31:28 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/10 23:31:28 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/10 23:31:28 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/10 23:31:28 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 23:31:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 23:31:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:31:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:31:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:31:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:31:28 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 23:31:28 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 23:31:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 23:31:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.061m, effective arm-mount z=0.921m (base_body_z=0.061m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 23:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 23:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 23:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.060578m	[env.py: 870]
+05/10 23:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 23:31:28 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/10 23:31:28 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 23:31:28 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/10 23:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 23:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.82021128  0.46485451  0.06057821] yaw=172.8deg	[env.py: 1019]
+05/10 23:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 23:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.70555294  0.56070272  0.06057821] yaw=-182.6deg	[env.py: 1019]
+05/10 23:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 23:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -35.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -58.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -60.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.86486561  0.11360192  0.06057821] yaw=159.2deg	[env.py: 1019]
+05/10 23:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 23:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 23:31:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=13.5ms, retries=208.7ms, total=222.2ms	[env.py: 1075]
+05/10 23:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.820, 0.465, 0.061)	[env.py: 1079]
+05/10 23:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 172.8 deg	[env.py: 1082]
+05/10 23:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.882m	[env.py: 1086]
+05/10 23:31:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:31:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:31:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:31:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:31:28 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 23:31:28 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/10 23:31:29 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/10 23:31:29 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/10 23:31:29 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/10 23:31:29 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/10 23:31:29 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 23:31:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 23:31:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:31:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:31:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:31:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:31:29 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 23:31:29 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]
+05/10 23:31:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 23:31:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.033m, effective arm-mount z=0.893m (base_body_z=0.033m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 23:31:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 23:31:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 23:31:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.032647m	[env.py: 870]
+05/10 23:31:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 23:31:29 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/10 23:31:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 23:31:29 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 23:31:29 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/10 23:31:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 66.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:31:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 83.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:31:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -42.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:31:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.07190192  0.93407676  0.03264666] yaw=-139.2deg	[env.py: 1019]
+05/10 23:31:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 23:31:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -64.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:31:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.8479343   0.52194309  0.03264666] yaw=-188.2deg	[env.py: 1019]
+05/10 23:31:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 23:31:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.89833318  0.61992776  0.03264666] yaw=-169.8deg	[env.py: 1019]
+05/10 23:31:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 23:31:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 23:31:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=14.2ms, retries=192.9ms, total=207.2ms	[env.py: 1075]
+05/10 23:31:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.072, 0.934, 0.033)	[env.py: 1079]
+05/10 23:31:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -139.2 deg	[env.py: 1082]
+05/10 23:31:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.776m	[env.py: 1086]
+05/10 23:31:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:31:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:31:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:31:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:31:29 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 23:31:29 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/10 23:31:55 INFO: [Worker 0] Warmed up parallel IK solver in 27.265s	[base_object_manipulation_planner_policy.py: 377]
+05/10 23:31:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 23:31:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 23:31:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 23:31:56 INFO: [Worker 0] Warmed up parallel IK solver in 27.297s	[base_object_manipulation_planner_policy.py: 377]
+05/10 23:31:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 23:31:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 23:31:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 23:31:56 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.563s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 23:31:56 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.478[m] 87.631[deg]	[grasp_sample.py: 539]
+05/10 23:31:56 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 23:31:56 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.657s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 23:31:56 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.444[m] 96.548[deg]	[grasp_sample.py: 539]
+05/10 23:31:56 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 23:31:56 INFO: [Worker 0] Warmed up parallel IK solver in 27.424s	[base_object_manipulation_planner_policy.py: 377]
+05/10 23:31:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 23:31:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 23:31:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 23:31:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 23:31:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:31:57 INFO: [Worker 0] Warmed up parallel IK solver in 28.229s	[base_object_manipulation_planner_policy.py: 377]
+05/10 23:31:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 23:31:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 23:31:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 23:31:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 23:31:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:31:57 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.524s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 23:31:57 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.391[m] 97.645[deg]	[grasp_sample.py: 539]
+05/10 23:31:57 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 23:31:57 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.447s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 23:31:57 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.427[m] 88.646[deg]	[grasp_sample.py: 539]
+05/10 23:31:57 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 23:31:58 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 23:31:58 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:31:58 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 23:31:58 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:32:39 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:32:44 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:32:45 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:32:49 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:32:50 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 23:32:55 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 23:32:55 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:32:55 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 23:32:59 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 23:33:00 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:33:00 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:33:04 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:34:45 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 23:34:45 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 23:34:48 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 23:34:52 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 23:35:05 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_011	[pipeline.py: 1174]
+05/10 23:35:05 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 23:35:05 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 23:35:06 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_011	[pipeline.py: 1174]
+05/10 23:35:06 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 23:35:06 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 23:35:09 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_011	[pipeline.py: 1174]
+05/10 23:35:09 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 23:35:09 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 23:35:12 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_011	[pipeline.py: 1174]
+05/10 23:35:12 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 23:35:12 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 23:35:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 23:35:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011	[save_utils.py: 785]
+05/10 23:35:20 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 14.11s (batch: 4.81s, save: 9.29s)	[pipeline.py: 300]
+05/10 23:35:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 23:35:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011	[save_utils.py: 785]
+05/10 23:35:20 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 13.72s (batch: 4.37s, save: 9.35s)	[pipeline.py: 300]
+05/10 23:35:21 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=3.62s:
+  episode_total: mean=235.74s, total=235.74s, count=1, min=235740.7ms, max=235740.7ms
+  sensor_polling: mean=522.8ms, total=156.83s, count=300, min=441.1ms, max=909.4ms
+  save_trajectories: mean=9.35s, total=9.35s, count=1, min=9347.2ms, max=9347.2ms
+  physics_step: mean=25.2ms, total=7.57s, count=300, min=15.7ms, max=90.1ms
+  save_batch_prep: mean=4.37s, total=4.37s, count=1, min=4369.9ms, max=4369.9ms
+  task_sampling: mean=3.62s, total=3.62s, count=1, min=3624.2ms, max=3624.2ms
+  scene_load: mean=2.81s, total=2.81s, count=1, min=2807.0ms, max=2807.0ms
+  scene_env_create: mean=1.83s, total=1.83s, count=1, min=1831.4ms, max=1831.4ms
+  scene_compile: mean=858.6ms, total=858.6ms, count=1, min=858.6ms, max=858.6ms
+  task_specific_sample: mean=814.3ms, total=814.3ms, count=1, min=814.3ms, max=814.3ms
+  compile_mujoco: mean=636.7ms, total=636.7ms, count=1, min=636.7ms, max=636.7ms
+  compile_xml_load: mean=148.2ms, total=148.2ms, count=1, min=148.2ms, max=148.2ms
+  scene_init: mean=75.7ms, total=75.7ms, count=1, min=75.7ms, max=75.7ms
+  compile_aux_objects: mean=45.0ms, total=45.0ms, count=1, min=45.0ms, max=45.0ms
+  compile_aux_policy_objects: mean=45.0ms, total=45.0ms, count=1, min=45.0ms, max=45.0ms
+  scene_asset_install: mean=41.2ms, total=41.2ms, count=1, min=41.2ms, max=41.2ms
+  asset_install_grasps: mean=29.6ms, total=29.6ms, count=1, min=29.6ms, max=29.6ms
+  compile_robot_add: mean=19.9ms, total=19.9ms, count=1, min=19.9ms, max=19.9ms
+  asset_install_objects: mean=8.9ms, total=8.9ms, count=1, min=8.9ms, max=8.9ms
+  asset_install_scene: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  scene_randomize: mean=1.2ms, total=1.2ms, count=1, min=1.2ms, max=1.2ms
+  mj_forward_sync: mean=457.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=58.2us, total=0.1ms, count=1, min=0.1ms, max=0.1ms	[profiler_utils.py: 380]
+05/10 23:35:21 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=3.44s:
+  episode_total: mean=234.93s, total=234.93s, count=1, min=234931.6ms, max=234931.6ms
+  sensor_polling: mean=518.8ms, total=155.64s, count=300, min=440.0ms, max=957.5ms
+  save_trajectories: mean=9.29s, total=9.29s, count=1, min=9292.7ms, max=9292.7ms
+  physics_step: mean=26.1ms, total=7.84s, count=300, min=16.6ms, max=122.0ms
+  save_batch_prep: mean=4.81s, total=4.81s, count=1, min=4812.4ms, max=4812.4ms
+  task_sampling: mean=3.44s, total=3.44s, count=1, min=3442.1ms, max=3442.1ms
+  scene_load: mean=2.96s, total=2.96s, count=1, min=2961.0ms, max=2961.0ms
+  scene_env_create: mean=2.11s, total=2.11s, count=1, min=2108.6ms, max=2108.6ms
+  scene_compile: mean=735.5ms, total=735.5ms, count=1, min=735.5ms, max=735.5ms
+  compile_mujoco: mean=528.9ms, total=528.9ms, count=1, min=528.9ms, max=528.9ms
+  task_specific_sample: mean=478.2ms, total=478.2ms, count=1, min=478.2ms, max=478.2ms
+  compile_xml_load: mean=146.3ms, total=146.3ms, count=1, min=146.3ms, max=146.3ms
+  scene_init: mean=68.8ms, total=68.8ms, count=1, min=68.8ms, max=68.8ms
+  scene_asset_install: mean=47.8ms, total=47.8ms, count=1, min=47.8ms, max=47.8ms
+  compile_aux_objects: mean=45.4ms, total=45.4ms, count=1, min=45.4ms, max=45.4ms
+  compile_aux_policy_objects: mean=45.4ms, total=45.4ms, count=1, min=45.4ms, max=45.4ms
+  asset_install_grasps: mean=32.1ms, total=32.1ms, count=1, min=32.1ms, max=32.1ms
+  asset_install_objects: mean=12.9ms, total=12.9ms, count=1, min=12.9ms, max=12.9ms
+  compile_robot_add: mean=6.7ms, total=6.7ms, count=1, min=6.7ms, max=6.7ms
+  asset_install_scene: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  scene_randomize: mean=1.3ms, total=1.3ms, count=1, min=1.3ms, max=1.3ms
+  mj_forward_sync: mean=455.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=30.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 23:35:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 23:35:22 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 23:35:22 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 23:35:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:35:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:35:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:35:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:35:22 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 23:35:22 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]
+05/10 23:35:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 23:35:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.038m, effective arm-mount z=0.898m (base_body_z=0.038m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 23:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 23:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 23:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.037842m	[env.py: 870]
+05/10 23:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 23:35:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 23:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 23:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.79672647  0.87519575  0.03784208] yaw=-145.6deg	[env.py: 1019]
+05/10 23:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 23:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.75131251  0.21558023  0.03784208] yaw=164.9deg	[env.py: 1019]
+05/10 23:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 23:35:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 23:35:22 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 23:35:22 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 23:35:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.88646408  1.04241023  0.03784208] yaw=-137.3deg	[env.py: 1019]
+05/10 23:35:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:35:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:35:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:35:23 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 23:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 23:35:23 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]
+05/10 23:35:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 23:35:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.073m, effective arm-mount z=0.933m (base_body_z=0.073m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 23:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 23:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 23:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.073252m	[env.py: 870]
+05/10 23:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 23:35:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 23:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 23:35:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=235.2ms, total=235.2ms	[env.py: 1075]
+05/10 23:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.797, 0.875, 0.038)	[env.py: 1079]
+05/10 23:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -145.6 deg	[env.py: 1082]
+05/10 23:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.987m	[env.py: 1086]
+05/10 23:35:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:35:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:35:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:35:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 23:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.82891724  0.27872446  0.07325219] yaw=169.2deg	[env.py: 1019]
+05/10 23:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 23:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.17093827  1.1277145   0.07325219] yaw=-128.0deg	[env.py: 1019]
+05/10 23:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 23:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -67.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.85072032  0.07397582  0.07325219] yaw=155.0deg	[env.py: 1019]
+05/10 23:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 23:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 23:35:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=131.3ms, total=131.4ms	[env.py: 1075]
+05/10 23:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.829, 0.279, 0.073)	[env.py: 1079]
+05/10 23:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 169.2 deg	[env.py: 1082]
+05/10 23:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.897m	[env.py: 1086]
+05/10 23:35:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:35:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:35:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:35:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:35:23 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 23:35:23 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/10 23:35:23 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 23:35:23 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/10 23:35:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.111s	[base_object_manipulation_planner_policy.py: 377]
+05/10 23:35:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 23:35:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 23:35:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.135s	[base_object_manipulation_planner_policy.py: 377]
+05/10 23:35:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 23:35:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 23:35:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.090s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 23:35:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 23:35:24 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.745s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 23:35:24 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.425[m] 86.624[deg]	[grasp_sample.py: 539]
+05/10 23:35:24 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 23:35:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 23:35:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011	[save_utils.py: 785]
+05/10 23:35:24 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 15.10s (batch: 4.32s, save: 10.78s)	[pipeline.py: 300]
+05/10 23:35:24 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.070s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 23:35:24 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.549[m] 87.371[deg]	[grasp_sample.py: 539]
+05/10 23:35:24 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 23:35:24 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 23:35:24 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:35:25 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 23:35:25 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:35:25 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=3.72s:
+  episode_total: mean=240.32s, total=240.32s, count=1, min=240316.5ms, max=240316.5ms
+  sensor_polling: mean=533.8ms, total=160.14s, count=300, min=450.4ms, max=917.9ms
+  save_trajectories: mean=10.78s, total=10.78s, count=1, min=10779.4ms, max=10779.4ms
+  physics_step: mean=25.8ms, total=7.73s, count=300, min=17.2ms, max=89.3ms
+  save_batch_prep: mean=4.32s, total=4.32s, count=1, min=4321.0ms, max=4321.0ms
+  task_sampling: mean=3.72s, total=3.72s, count=1, min=3717.8ms, max=3717.8ms
+  scene_load: mean=3.11s, total=3.11s, count=1, min=3106.8ms, max=3106.8ms
+  scene_env_create: mean=1.87s, total=1.87s, count=1, min=1865.8ms, max=1865.8ms
+  scene_compile: mean=1.11s, total=1.11s, count=1, min=1109.2ms, max=1109.2ms
+  task_specific_sample: mean=607.0ms, total=607.0ms, count=1, min=607.0ms, max=607.0ms
+  compile_mujoco: mean=600.1ms, total=600.1ms, count=1, min=600.1ms, max=600.1ms
+  compile_xml_load: mean=433.7ms, total=433.7ms, count=1, min=433.7ms, max=433.7ms
+  scene_init: mean=74.5ms, total=74.5ms, count=1, min=74.5ms, max=74.5ms
+  scene_asset_install: mean=57.0ms, total=57.0ms, count=1, min=57.0ms, max=57.0ms
+  compile_aux_objects: mean=45.4ms, total=45.4ms, count=1, min=45.4ms, max=45.4ms
+  compile_aux_policy_objects: mean=45.4ms, total=45.4ms, count=1, min=45.4ms, max=45.4ms
+  asset_install_grasps: mean=41.7ms, total=41.7ms, count=1, min=41.7ms, max=41.7ms
+  compile_robot_add: mean=20.9ms, total=20.9ms, count=1, min=20.9ms, max=20.9ms
+  asset_install_objects: mean=11.3ms, total=11.3ms, count=1, min=11.3ms, max=11.3ms
+  asset_install_scene: mean=4.0ms, total=4.0ms, count=1, min=4.0ms, max=4.0ms
+  scene_randomize: mean=1.2ms, total=1.2ms, count=1, min=1.2ms, max=1.2ms
+  mj_forward_sync: mean=450.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=40.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 23:35:26 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 23:35:26 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011	[save_utils.py: 785]
+05/10 23:35:26 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 14.19s (batch: 3.64s, save: 10.54s)	[pipeline.py: 300]
+05/10 23:35:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 23:35:26 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 23:35:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 23:35:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:35:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:35:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:35:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:35:26 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 23:35:26 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]
+05/10 23:35:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 23:35:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.077m, effective arm-mount z=0.937m (base_body_z=0.077m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 23:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 23:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 23:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.076543m	[env.py: 870]
+05/10 23:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 23:35:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 23:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 23:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -79.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:35:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.81464118  0.36541012  0.07654343] yaw=163.2deg	[env.py: 1019]
+05/10 23:35:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 23:35:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -66.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:35:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -33.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:35:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 70.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:35:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.02696849  0.14820071  0.07654343] yaw=146.4deg	[env.py: 1019]
+05/10 23:35:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 23:35:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.8984851   0.40177972  0.07654343] yaw=167.8deg	[env.py: 1019]
+05/10 23:35:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 23:35:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 23:35:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=262.3ms, total=262.4ms	[env.py: 1075]
+05/10 23:35:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.815, 0.365, 0.077)	[env.py: 1079]
+05/10 23:35:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 163.2 deg	[env.py: 1082]
+05/10 23:35:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.895m	[env.py: 1086]
+05/10 23:35:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:35:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:35:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:35:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:35:27 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=3.40s:
+  episode_total: mean=241.55s, total=241.55s, count=1, min=241545.7ms, max=241545.7ms
+  sensor_polling: mean=520.7ms, total=156.21s, count=300, min=439.5ms, max=910.8ms
+  save_trajectories: mean=10.54s, total=10.54s, count=1, min=10544.3ms, max=10544.3ms
+  physics_step: mean=25.2ms, total=7.56s, count=300, min=16.5ms, max=85.4ms
+  save_batch_prep: mean=3.64s, total=3.64s, count=1, min=3641.0ms, max=3641.0ms
+  task_sampling: mean=3.40s, total=3.40s, count=1, min=3400.4ms, max=3400.4ms
+  scene_load: mean=2.89s, total=2.89s, count=1, min=2886.0ms, max=2886.0ms
+  scene_env_create: mean=1.96s, total=1.96s, count=1, min=1956.3ms, max=1956.3ms
+  scene_compile: mean=773.8ms, total=773.8ms, count=1, min=773.8ms, max=773.8ms
+  compile_mujoco: mean=566.4ms, total=566.4ms, count=1, min=566.4ms, max=566.4ms
+  task_specific_sample: mean=511.2ms, total=511.2ms, count=1, min=511.2ms, max=511.2ms
+  compile_xml_load: mean=146.3ms, total=146.3ms, count=1, min=146.3ms, max=146.3ms
+  scene_init: mean=108.7ms, total=108.7ms, count=1, min=108.7ms, max=108.7ms
+  scene_asset_install: mean=46.8ms, total=46.8ms, count=1, min=46.8ms, max=46.8ms
+  compile_aux_objects: mean=45.7ms, total=45.7ms, count=1, min=45.7ms, max=45.7ms
+  compile_aux_policy_objects: mean=45.6ms, total=45.6ms, count=1, min=45.6ms, max=45.6ms
+  asset_install_grasps: mean=33.3ms, total=33.3ms, count=1, min=33.3ms, max=33.3ms
+  asset_install_objects: mean=10.3ms, total=10.3ms, count=1, min=10.3ms, max=10.3ms
+  compile_robot_add: mean=7.0ms, total=7.0ms, count=1, min=7.0ms, max=7.0ms
+  asset_install_scene: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
+  scene_randomize: mean=1.6ms, total=1.6ms, count=1, min=1.6ms, max=1.6ms
+  mj_forward_sync: mean=446.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=44.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 23:35:27 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 23:35:27 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/10 23:35:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s	[base_object_manipulation_planner_policy.py: 377]
+05/10 23:35:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 23:35:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 23:35:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.063s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 23:35:28 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.535s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 23:35:28 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.442[m] 88.595[deg]	[grasp_sample.py: 539]
+05/10 23:35:28 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 23:35:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 23:35:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:35:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 23:35:29 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 23:35:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 23:35:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:35:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:35:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:35:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:35:29 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 23:35:29 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]
+05/10 23:35:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 23:35:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.048m, effective arm-mount z=0.908m (base_body_z=0.048m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 23:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 23:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 23:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.047841m	[env.py: 870]
+05/10 23:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 23:35:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 23:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 23:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -164.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.01846892  1.08348091  0.04784074] yaw=-138.2deg	[env.py: 1019]
+05/10 23:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 23:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.94987756  0.18479586  0.04784074] yaw=162.8deg	[env.py: 1019]
+05/10 23:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 23:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.80033165  1.09570119  0.04784074] yaw=-149.7deg	[env.py: 1019]
+05/10 23:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 23:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 23:35:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=106.7ms, total=106.7ms	[env.py: 1075]
+05/10 23:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.018, 1.083, 0.048)	[env.py: 1079]
+05/10 23:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -138.2 deg	[env.py: 1082]
+05/10 23:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.911m	[env.py: 1086]
+05/10 23:35:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:35:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:35:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:35:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:35:29 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 23:35:29 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/10 23:35:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s	[base_object_manipulation_planner_policy.py: 377]
+05/10 23:35:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 23:35:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 23:35:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 23:35:31 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.708s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 23:35:31 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.489[m] 92.930[deg]	[grasp_sample.py: 539]
+05/10 23:35:31 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 23:35:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 23:35:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:36:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:36:17 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:36:22 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 23:36:24 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:36:25 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:36:28 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:36:30 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 23:36:34 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:36:36 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 23:36:37 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 23:36:41 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:36:41 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:37:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:37:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:37:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:37:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:37:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:37:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:37:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:37:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:37:51 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 23:37:51 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 23:37:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 23:37:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 23:37:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 23:37:52 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.357s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 23:37:52 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.906[deg]	[grasp_sample.py: 539]
+05/10 23:37:53 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 23:37:53 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 23:37:53 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:37:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:37:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:38:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:38:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:38:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:38:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:38:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:38:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:38:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:38:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:38:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:38:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:38:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:38:09 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 23:38:09 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 23:38:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 23:38:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 23:38:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/10 23:38:09 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.346s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 23:38:09 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.049[m] 0.831[deg]	[grasp_sample.py: 539]
+05/10 23:38:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:38:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:38:10 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 23:38:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 23:38:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:38:11 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 23:38:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:38:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:38:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:38:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:38:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:38:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:38:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:38:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:38:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:38:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:38:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:38:16 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 23:38:16 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 23:38:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 23:38:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 23:38:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/10 23:38:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:38:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:38:17 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 23:38:17 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 23:38:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 23:38:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 23:38:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 23:38:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:38:19 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.596s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 23:38:19 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.407[deg]	[grasp_sample.py: 539]
+05/10 23:38:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:38:20 ERROR: [Worker 0] Worker 0 house 1 episode 1 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 23:38:20 INFO: [Worker 0] Feasibility-checked 80 grasps in 4.015s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 23:38:20 INFO: [Worker 0] Feasible grasp found 102 (originally 102): w/ 0.100[m] 0.705[deg]	[grasp_sample.py: 539]
+05/10 23:38:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:38:21 ERROR: [Worker 0] Worker 0 house 1 episode 1 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 23:38:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 23:38:22 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 23:38:22 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 23:38:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:38:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:38:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:38:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:38:22 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 23:38:22 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]
+05/10 23:38:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 23:38:22 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]
+05/10 23:38:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 23:38:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 23:38:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.093436m	[env.py: 870]
+05/10 23:38:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 23:38:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 23:38:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 23:38:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -30.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:38:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 76.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:38:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.73260005  0.8442576   0.09343575] yaw=-163.0deg	[env.py: 1019]
+05/10 23:38:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 23:38:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.90980662  0.59657406  0.09343575] yaw=-177.1deg	[env.py: 1019]
+05/10 23:38:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 23:38:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 100.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:38:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.92869004  1.19150309  0.09343575] yaw=-144.9deg	[env.py: 1019]
+05/10 23:38:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 23:38:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 23:38:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=208.1ms, total=208.2ms	[env.py: 1075]
+05/10 23:38:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.733, 0.844, 0.093)	[env.py: 1079]
+05/10 23:38:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -163.0 deg	[env.py: 1082]
+05/10 23:38:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.035m	[env.py: 1086]
+05/10 23:38:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:38:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:38:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:38:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:38:22 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 23:38:22 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/10 23:38:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.051s	[base_object_manipulation_planner_policy.py: 377]
+05/10 23:38:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 23:38:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 23:38:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 23:38:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:38:23 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 23:38:23 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 23:38:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 23:38:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 23:38:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.061s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/10 23:38:23 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.409s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 23:38:23 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.049[m] 0.831[deg]	[grasp_sample.py: 539]
+05/10 23:38:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 23:38:24 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 23:38:24 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 23:38:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:38:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:38:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:38:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:38:24 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 23:38:24 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 23:38:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 23:38:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.056m, effective arm-mount z=0.916m (base_body_z=0.056m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 23:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 23:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 23:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.055981m	[env.py: 870]
+05/10 23:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 23:38:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 23:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 23:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 125.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 117.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -54.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.861075    1.17952271  0.05598067] yaw=-147.4deg	[env.py: 1019]
+05/10 23:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 23:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 109.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.6588297   0.48237374  0.05598067] yaw=-178.6deg	[env.py: 1019]
+05/10 23:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 23:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.81977159  0.64246729  0.05598067] yaw=-162.7deg	[env.py: 1019]
+05/10 23:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 23:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 23:38:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=305.9ms, total=306.0ms	[env.py: 1075]
+05/10 23:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.861, 1.180, 0.056)	[env.py: 1079]
+05/10 23:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -147.4 deg	[env.py: 1082]
+05/10 23:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.093m	[env.py: 1086]
+05/10 23:38:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:38:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:38:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:38:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:38:24 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 23:38:24 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/10 23:38:24 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.849s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 23:38:24 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.618[m] 86.381[deg]	[grasp_sample.py: 539]
+05/10 23:38:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s	[base_object_manipulation_planner_policy.py: 377]
+05/10 23:38:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 23:38:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 23:38:24 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 23:38:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 23:38:24 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 23:38:25 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 23:38:25 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:38:25 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 23:38:25 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:38:26 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.610s, found feasible grasp: False	[grasp_sample.py: 500]
+05/10 23:38:26 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/10 23:38:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:38:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 23:38:28 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 23:38:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 23:38:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:38:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:38:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:38:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:38:28 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 23:38:28 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]
+05/10 23:38:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 23:38:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.044m, effective arm-mount z=0.904m (base_body_z=0.044m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 23:38:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 23:38:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 23:38:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.043829m	[env.py: 870]
+05/10 23:38:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 23:38:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 23:38:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 23:38:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.21353998  1.05882707  0.04382903] yaw=-128.6deg	[env.py: 1019]
+05/10 23:38:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 23:38:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -65.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:38:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.86171715  0.6984774   0.04382903] yaw=-164.3deg	[env.py: 1019]
+05/10 23:38:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 23:38:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.90236657  0.59267187  0.04382903] yaw=-161.7deg	[env.py: 1019]
+05/10 23:38:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 23:38:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 23:38:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=111.4ms, total=111.5ms	[env.py: 1075]
+05/10 23:38:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.214, 1.059, 0.044)	[env.py: 1079]
+05/10 23:38:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -128.6 deg	[env.py: 1082]
+05/10 23:38:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.756m	[env.py: 1086]
+05/10 23:38:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:38:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:38:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:38:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:38:28 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 23:38:28 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/10 23:38:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.051s	[base_object_manipulation_planner_policy.py: 377]
+05/10 23:38:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 23:38:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 23:38:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 23:38:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:38:29 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.758s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 23:38:29 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.387[m] 99.554[deg]	[grasp_sample.py: 539]
+05/10 23:38:29 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 23:38:29 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 23:38:29 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:38:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:38:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:38:33 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_011	[pipeline.py: 1174]
+05/10 23:38:33 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 23:38:33 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 23:38:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:38:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:38:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:38:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:38:40 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 23:38:40 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/10 23:38:40 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 23:38:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 23:38:47 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011	[save_utils.py: 785]
+05/10 23:38:47 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 14.09s (batch: 4.42s, save: 9.68s)	[pipeline.py: 300]
+05/10 23:38:48 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.58s:
+  episode_total: mean=205.59s, total=205.59s, count=1, min=205594.2ms, max=205594.2ms
+  sensor_polling: mean=517.8ms, total=155.34s, count=300, min=442.1ms, max=856.7ms
+  save_trajectories: mean=9.68s, total=9.68s, count=1, min=9676.3ms, max=9676.3ms
+  physics_step: mean=24.8ms, total=7.43s, count=300, min=18.3ms, max=72.2ms
+  save_batch_prep: mean=4.42s, total=4.42s, count=1, min=4417.0ms, max=4417.0ms
+  task_sampling: mean=583.8ms, total=583.8ms, count=1, min=583.8ms, max=583.8ms
+  task_specific_sample: mean=578.8ms, total=578.8ms, count=1, min=578.8ms, max=578.8ms
+  scene_randomize: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms
+  mj_forward_sync: mean=715.1us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
+  policy_setup: mean=23.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 23:38:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 23:38:49 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 23:38:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 23:38:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:38:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:38:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:38:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:38:50 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 23:38:50 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 23:38:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 23:38:50 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]
+05/10 23:38:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 23:38:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 23:38:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.064635m	[env.py: 870]
+05/10 23:38:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 23:38:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 23:38:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 23:38:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.00511573  1.01040137  0.06463469] yaw=-145.9deg	[env.py: 1019]
+05/10 23:38:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 23:38:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.80298611  0.47565056  0.06463469] yaw=184.7deg	[env.py: 1019]
+05/10 23:38:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 23:38:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -59.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:38:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.64482705  0.49030811  0.06463469] yaw=-185.6deg	[env.py: 1019]
+05/10 23:38:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 23:38:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 23:38:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=84.4ms, total=84.4ms	[env.py: 1075]
+05/10 23:38:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.005, 1.010, 0.065)	[env.py: 1079]
+05/10 23:38:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -145.9 deg	[env.py: 1082]
+05/10 23:38:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.875m	[env.py: 1086]
+05/10 23:38:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:38:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:38:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:38:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:38:50 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 23:38:50 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/10 23:38:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.098s	[base_object_manipulation_planner_policy.py: 377]
+05/10 23:38:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 23:38:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 23:38:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 23:38:51 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.714s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 23:38:51 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.448[m] 85.590[deg]	[grasp_sample.py: 539]
+05/10 23:38:51 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 23:38:51 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 23:38:51 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:39:03 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_011	[pipeline.py: 1174]
+05/10 23:39:03 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 23:39:03 INFO: [Worker 0] Preparing episode data: 267 timesteps	[save_utils.py: 278]
+05/10 23:39:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:39:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 23:39:16 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011	[save_utils.py: 785]
+05/10 23:39:16 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 13.06s (batch: 4.88s, save: 8.18s)	[pipeline.py: 300]
+05/10 23:39:16 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.41s:
+  episode_total: mean=233.77s, total=233.77s, count=1, min=233768.0ms, max=233768.0ms
+  sensor_polling: mean=536.6ms, total=142.73s, count=266, min=448.8ms, max=862.4ms
+  save_trajectories: mean=8.18s, total=8.18s, count=1, min=8180.8ms, max=8180.8ms
+  physics_step: mean=27.5ms, total=7.32s, count=266, min=13.4ms, max=85.1ms
+  save_batch_prep: mean=4.88s, total=4.88s, count=1, min=4877.7ms, max=4877.7ms
+  task_sampling: mean=410.9ms, total=410.9ms, count=1, min=410.9ms, max=410.9ms
+  task_specific_sample: mean=405.5ms, total=405.5ms, count=1, min=405.5ms, max=405.5ms
+  scene_randomize: mean=3.7ms, total=3.7ms, count=1, min=3.7ms, max=3.7ms
+  mj_forward_sync: mean=647.6us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=21.8us, 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]
+05/10 23:39:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 23:39:18 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 23:39:18 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 23:39:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:39:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:39:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:39:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:39:18 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 23:39:18 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]
+05/10 23:39:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 23:39:18 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]
+05/10 23:39:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 23:39:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 23:39:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.026932m	[env.py: 870]
+05/10 23:39:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 23:39:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 23:39:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 23:39:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.84625756  0.72517209  0.0269322 ] yaw=-166.6deg	[env.py: 1019]
+05/10 23:39:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 23:39:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 74.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:39:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.97754636  0.86806907  0.0269322 ] yaw=-148.1deg	[env.py: 1019]
+05/10 23:39:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 23:39:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 95.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:39:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 112.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:39:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.68711942  0.13666497  0.0269322 ] yaw=168.9deg	[env.py: 1019]
+05/10 23:39:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 23:39:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 23:39:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=150.0ms, total=150.0ms	[env.py: 1075]
+05/10 23:39:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.846, 0.725, 0.027)	[env.py: 1079]
+05/10 23:39:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -166.6 deg	[env.py: 1082]
+05/10 23:39:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.890m	[env.py: 1086]
+05/10 23:39:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:39:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:39:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:39:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:39:18 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 23:39:18 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/10 23:39:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s	[base_object_manipulation_planner_policy.py: 377]
+05/10 23:39:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 23:39:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 23:39:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 23:39:19 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.647s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 23:39:19 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.440[m] 90.739[deg]	[grasp_sample.py: 539]
+05/10 23:39:19 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 23:39:20 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 23:39:20 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:39:21 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 23:39:25 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:39:30 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:39:40 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:39:42 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 23:39:47 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:39:51 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 23:39:55 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:40:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:40:19 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 23:40:23 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:40:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:40:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:40:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:40:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:40:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:40:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:40:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:41:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:41:00 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 23:41:00 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 23:41:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 23:41:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 23:41:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 23:41:02 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.500s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 23:41:02 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.298[deg]	[grasp_sample.py: 539]
+05/10 23:41:04 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 23:41:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 23:41:05 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 23:41:05 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 23:41:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:41:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:41:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:41:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:41:05 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 23:41:05 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]
+05/10 23:41:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 23:41:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.069m, effective arm-mount z=0.929m (base_body_z=0.069m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 23:41:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 23:41:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 23:41:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.068799m	[env.py: 870]
+05/10 23:41:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 23:41:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 23:41:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 23:41:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 57.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:41:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.88265952  0.68215027  0.06879932] yaw=-174.2deg	[env.py: 1019]
+05/10 23:41:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 23:41:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.95127832  0.42510983  0.06879932] yaw=170.3deg	[env.py: 1019]
+05/10 23:41:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 23:41:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.69908506  0.30720058  0.06879932] yaw=159.5deg	[env.py: 1019]
+05/10 23:41:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 23:41:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 23:41:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=84.0ms, total=84.1ms	[env.py: 1075]
+05/10 23:41:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.883, 0.682, 0.069)	[env.py: 1079]
+05/10 23:41:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -174.2 deg	[env.py: 1082]
+05/10 23:41:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.844m	[env.py: 1086]
+05/10 23:41:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:41:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:41:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:41:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:41:06 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 23:41:06 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/10 23:41:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s	[base_object_manipulation_planner_policy.py: 377]
+05/10 23:41:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 23:41:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 23:41:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 23:41:06 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.567s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 23:41:06 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.398[m] 81.834[deg]	[grasp_sample.py: 539]
+05/10 23:41:06 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 23:41:07 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 23:41:07 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:41:10 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 23:41:32 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_011	[pipeline.py: 1174]
+05/10 23:41:32 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 23:41:32 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 23:41:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:41:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:41:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:41:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:41:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:41:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:41:45 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 23:41:46 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:41:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 23:41:47 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011	[save_utils.py: 785]
+05/10 23:41:47 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 15.37s (batch: 5.27s, save: 10.10s)	[pipeline.py: 300]
+05/10 23:41:48 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.94s:
+  episode_total: mean=188.62s, total=377.25s, count=2, min=171302.7ms, max=205943.5ms
+  sensor_polling: mean=517.8ms, total=301.34s, count=582, min=436.6ms, max=927.4ms
+  physics_step: mean=25.7ms, total=14.94s, count=582, min=16.3ms, max=140.9ms
+  save_trajectories: mean=10.10s, total=10.10s, count=1, min=10095.8ms, max=10095.8ms
+  save_batch_prep: mean=5.27s, total=5.27s, count=1, min=5269.7ms, max=5269.7ms
+  task_sampling: mean=470.9ms, total=941.9ms, count=2, min=446.0ms, max=495.8ms
+  task_specific_sample: mean=467.5ms, total=935.0ms, count=2, min=442.1ms, max=492.9ms
+  scene_randomize: mean=1.9ms, total=3.8ms, count=2, min=1.3ms, max=2.5ms
+  mj_forward_sync: mean=409.7us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=21.0us, 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]
+05/10 23:41:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 23:41:49 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 23:41:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 23:41:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:41:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:41:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:41:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:41:49 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 23:41:49 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 23:41:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 23:41:49 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]
+05/10 23:41:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 23:41:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 23:41:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.041823m	[env.py: 870]
+05/10 23:41:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 23:41:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 23:41:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 23:41:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 61.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:41:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -74.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:41:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 105.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:41:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 92.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:41:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.17183616  1.14655706  0.04182274] yaw=-119.4deg	[env.py: 1019]
+05/10 23:41:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 23:41:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.98990909  0.88163744  0.04182274] yaw=-146.5deg	[env.py: 1019]
+05/10 23:41:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 23:41:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.99373074  0.11898655  0.04182274] yaw=161.1deg	[env.py: 1019]
+05/10 23:41:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 23:41:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 23:41:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=222.9ms, total=222.9ms	[env.py: 1075]
+05/10 23:41:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.172, 1.147, 0.042)	[env.py: 1079]
+05/10 23:41:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -119.4 deg	[env.py: 1082]
+05/10 23:41:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.850m	[env.py: 1086]
+05/10 23:41:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:41:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:41:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:41:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:41:50 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 23:41:50 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/10 23:41:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.094s	[base_object_manipulation_planner_policy.py: 377]
+05/10 23:41:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 23:41:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 23:41:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.063s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 23:41:52 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.673s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 23:41:52 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.462[m] 92.781[deg]	[grasp_sample.py: 539]
+05/10 23:41:53 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 23:41:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 23:41:54 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 23:41:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 23:41:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:41:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:41:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:41:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:41:54 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 23:41:54 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]
+05/10 23:41:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 23:41:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.020m, effective arm-mount z=0.880m (base_body_z=0.020m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 23:41:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 23:41:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 23:41:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.020075m	[env.py: 870]
+05/10 23:41:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 23:41:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 23:41:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 23:41:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -43.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:41:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.86758419  0.84399913  0.02007452] yaw=-149.2deg	[env.py: 1019]
+05/10 23:41:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 23:41:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -42.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:41:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -171.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:41:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.67631784  0.66575459  0.02007452] yaw=-158.7deg	[env.py: 1019]
+05/10 23:41:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 23:41:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.66726536  0.45107961  0.02007452] yaw=177.1deg	[env.py: 1019]
+05/10 23:41:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 23:41:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 23:41:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=132.4ms, total=132.4ms	[env.py: 1075]
+05/10 23:41:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.868, 0.844, 0.020)	[env.py: 1079]
+05/10 23:41:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -149.2 deg	[env.py: 1082]
+05/10 23:41:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.910m	[env.py: 1086]
+05/10 23:41:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:41:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:41:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:41:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:41:55 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 23:41:55 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/10 23:41:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s	[base_object_manipulation_planner_policy.py: 377]
+05/10 23:41:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 23:41:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 23:41:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.053s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 23:41:56 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.677s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 23:41:56 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.472[m] 85.760[deg]	[grasp_sample.py: 539]
+05/10 23:41:56 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 23:41:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 23:41:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:41:58 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 23:42:03 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:42:06 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 23:42:11 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_011	[pipeline.py: 1174]
+05/10 23:42:11 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 23:42:11 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 23:42:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 23:42:25 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011	[save_utils.py: 785]
+05/10 23:42:25 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 14.08s (batch: 4.72s, save: 9.35s)	[pipeline.py: 300]
+05/10 23:42:26 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.44s:
+  episode_total: mean=216.56s, total=216.56s, count=1, min=216556.8ms, max=216556.8ms
+  sensor_polling: mean=510.7ms, total=153.20s, count=300, min=446.8ms, max=682.6ms
+  save_trajectories: mean=9.35s, total=9.35s, count=1, min=9352.9ms, max=9352.9ms
+  physics_step: mean=25.2ms, total=7.55s, count=300, min=18.6ms, max=143.4ms
+  save_batch_prep: mean=4.72s, total=4.72s, count=1, min=4722.7ms, max=4722.7ms
+  task_sampling: mean=438.4ms, total=438.4ms, count=1, min=438.4ms, max=438.4ms
+  task_specific_sample: mean=434.6ms, total=434.6ms, count=1, min=434.6ms, max=434.6ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=394.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=31.3us, 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]
+05/10 23:42:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 23:42:28 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 23:42:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 23:42:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:42:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:42:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:42:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:42:28 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 23:42:28 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 23:42:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 23:42:28 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]
+05/10 23:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 23:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 23:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.027121m	[env.py: 870]
+05/10 23:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 23:42:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 23:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 23:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 114.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -63.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.88971007  0.83081089  0.02712107] yaw=-153.0deg	[env.py: 1019]
+05/10 23:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 23:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.70712689  0.36916437  0.02712107] yaw=182.8deg	[env.py: 1019]
+05/10 23:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 23:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 101.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 23:42:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=281.4ms, total=281.4ms	[env.py: 1075]
+05/10 23:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.890, 0.831, 0.027)	[env.py: 1079]
+05/10 23:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -153.0 deg	[env.py: 1082]
+05/10 23:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.884m	[env.py: 1086]
+05/10 23:42:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:42:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:42:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:42:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:42:28 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 23:42:28 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/10 23:42:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.125s	[base_object_manipulation_planner_policy.py: 377]
+05/10 23:42:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 23:42:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 23:42:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.099s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 23:42:30 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.359s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 23:42:30 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.450[m] 88.073[deg]	[grasp_sample.py: 539]
+05/10 23:42:30 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 23:42:30 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_011	[pipeline.py: 1174]
+05/10 23:42:30 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 23:42:30 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 23:42:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 23:42:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:42:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 23:42:46 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011	[save_utils.py: 785]
+05/10 23:42:46 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 15.59s (batch: 5.06s, save: 10.53s)	[pipeline.py: 300]
+05/10 23:42:47 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.44s:
+  episode_total: mean=208.61s, total=208.61s, count=1, min=208606.1ms, max=208606.1ms
+  sensor_polling: mean=517.1ms, total=155.12s, count=300, min=450.4ms, max=682.8ms
+  save_trajectories: mean=10.53s, total=10.53s, count=1, min=10534.0ms, max=10534.0ms
+  physics_step: mean=25.5ms, total=7.65s, count=300, min=14.3ms, max=64.9ms
+  save_batch_prep: mean=5.06s, total=5.06s, count=1, min=5055.7ms, max=5055.7ms
+  task_sampling: mean=436.0ms, total=436.0ms, count=1, min=436.0ms, max=436.0ms
+  task_specific_sample: mean=432.3ms, total=432.3ms, count=1, min=432.3ms, max=432.3ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=421.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=22.4us, 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]
+05/10 23:42:47 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:42:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 23:42:48 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 23:42:48 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 23:42:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:42:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:42:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:42:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:42:48 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 23:42:48 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]
+05/10 23:42:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 23:42:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.012m, effective arm-mount z=0.872m (base_body_z=0.012m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 23:42:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 23:42:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 23:42:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.012296m	[env.py: 870]
+05/10 23:42:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 23:42:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 23:42:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 23:42:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -77.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:42:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -59.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:42:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.75378486  0.95268542  0.01229588] yaw=-159.4deg	[env.py: 1019]
+05/10 23:42:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 23:42:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.83741553  1.05889708  0.01229588] yaw=-137.0deg	[env.py: 1019]
+05/10 23:42:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 23:42:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 164.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:42:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.97982255  0.79855107  0.01229588] yaw=-148.5deg	[env.py: 1019]
+05/10 23:42:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 23:42:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 23:42:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=268.3ms, total=268.3ms	[env.py: 1075]
+05/10 23:42:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.754, 0.953, 0.012)	[env.py: 1079]
+05/10 23:42:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -159.4 deg	[env.py: 1082]
+05/10 23:42:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.059m	[env.py: 1086]
+05/10 23:42:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:42:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:42:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:42:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:42:49 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 23:42:49 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/10 23:42:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s	[base_object_manipulation_planner_policy.py: 377]
+05/10 23:42:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 23:42:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 23:42:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 23:42:51 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.806s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 23:42:51 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.654[m] 91.697[deg]	[grasp_sample.py: 539]
+05/10 23:42:51 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 23:42:52 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 23:42:52 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:42:58 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 23:43:03 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:43:21 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:43:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 23:43:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:43:55 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 23:44:03 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:44:12 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 23:44:17 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_011	[pipeline.py: 1174]
+05/10 23:44:17 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 23:44:17 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 23:44:17 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:44:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 23:44:29 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011	[save_utils.py: 785]
+05/10 23:44:29 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 12.58s (batch: 4.07s, save: 8.52s)	[pipeline.py: 300]
+05/10 23:44:30 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=1.92s:
+  episode_total: mean=134.37s, total=537.49s, count=4, min=2319.5ms, max=204250.9ms
+  sensor_polling: mean=521.1ms, total=421.58s, count=809, min=437.4ms, max=883.9ms
+  physics_step: mean=26.4ms, total=21.37s, count=809, min=15.6ms, max=85.3ms
+  save_trajectories: mean=8.52s, total=8.52s, count=1, min=8515.1ms, max=8515.1ms
+  save_batch_prep: mean=4.07s, total=4.07s, count=1, min=4068.4ms, max=4068.4ms
+  task_sampling: mean=479.7ms, total=1.92s, count=4, min=367.7ms, max=608.4ms
+  task_specific_sample: mean=476.3ms, total=1.91s, count=4, min=364.5ms, max=605.1ms
+  scene_randomize: mean=1.7ms, total=6.8ms, count=4, min=1.2ms, max=2.6ms
+  mj_forward_sync: mean=476.4us, total=1.9ms, count=4, min=0.4ms, max=0.6ms
+  policy_setup: mean=20.9us, total=0.1ms, count=4, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 23:44:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 23:44:31 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 23:44:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 23:44:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:44:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:44:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:44:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:44:31 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 23:44:31 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]
+05/10 23:44:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 23:44:31 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]
+05/10 23:44:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 23:44:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 23:44:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.093443m	[env.py: 870]
+05/10 23:44:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 23:44:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 23:44:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 23:44:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.8598333   0.1418342   0.09344301] yaw=155.0deg	[env.py: 1019]
+05/10 23:44:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 23:44:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -77.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:44:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.70357563  0.11317789  0.09344301] yaw=157.4deg	[env.py: 1019]
+05/10 23:44:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 23:44:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -158.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:44:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.07680101  1.19486347  0.09344301] yaw=-129.5deg	[env.py: 1019]
+05/10 23:44:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 23:44:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 23:44:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=104.3ms, total=104.3ms	[env.py: 1075]
+05/10 23:44:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.860, 0.142, 0.093)	[env.py: 1079]
+05/10 23:44:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 155.0 deg	[env.py: 1082]
+05/10 23:44:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.909m	[env.py: 1086]
+05/10 23:44:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:44:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:44:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:44:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:44:32 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 23:44:32 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/10 23:44:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
+05/10 23:44:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 23:44:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 23:44:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 23:44:32 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.553s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 23:44:32 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.443[m] 83.298[deg]	[grasp_sample.py: 539]
+05/10 23:44:33 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 23:44:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 23:44:33 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:44:39 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 23:45:03 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_011	[pipeline.py: 1174]
+05/10 23:45:03 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 23:45:03 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 23:45:17 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 23:45:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 23:45:18 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011	[save_utils.py: 785]
+05/10 23:45:18 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 14.91s (batch: 4.50s, save: 10.41s)	[pipeline.py: 300]
+05/10 23:45:19 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.92s:
+  episode_total: mean=103.88s, total=207.76s, count=2, min=3471.0ms, max=204292.1ms
+  sensor_polling: mean=507.1ms, total=152.13s, count=300, min=442.0ms, max=766.1ms
+  save_trajectories: mean=10.41s, total=10.41s, count=1, min=10409.5ms, max=10409.5ms
+  physics_step: mean=24.5ms, total=7.34s, count=300, min=17.7ms, max=85.0ms
+  save_batch_prep: mean=4.50s, total=4.50s, count=1, min=4497.7ms, max=4497.7ms
+  task_sampling: mean=460.9ms, total=921.9ms, count=2, min=377.4ms, max=544.5ms
+  task_specific_sample: mean=457.5ms, total=915.0ms, count=2, min=374.6ms, max=540.4ms
+  scene_randomize: mean=1.9ms, total=3.8ms, count=2, min=1.1ms, max=2.7ms
+  mj_forward_sync: mean=436.6us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=20.0us, 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]
+05/10 23:45:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 23:45:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 23:45:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 23:45:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:45:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:45:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:45:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:45:20 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 23:45:20 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]
+05/10 23:45:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 23:45:20 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]
+05/10 23:45:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 23:45:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 23:45:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.009867m	[env.py: 870]
+05/10 23:45:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 23:45:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 23:45:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 23:45:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -34.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:45:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 115.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:45:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -64.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:45:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -154.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:45:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.81369851  1.04613315  0.00986742] yaw=-151.4deg	[env.py: 1019]
+05/10 23:45:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 23:45:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.75355423  0.29282588  0.00986742] yaw=178.8deg	[env.py: 1019]
+05/10 23:45:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 23:45:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 23:45:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=205.5ms, total=205.5ms	[env.py: 1075]
+05/10 23:45:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.814, 1.046, 0.010)	[env.py: 1079]
+05/10 23:45:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -151.4 deg	[env.py: 1082]
+05/10 23:45:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.053m	[env.py: 1086]
+05/10 23:45:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:45:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:45:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:45:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:45:21 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 23:45:21 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/10 23:45:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
+05/10 23:45:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 23:45:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 23:45:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 23:45:22 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:45:23 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.815s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 23:45:23 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.656[m] 89.651[deg]	[grasp_sample.py: 539]
+05/10 23:45:23 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 23:45:24 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 23:45:24 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:45:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 23:45:35 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 23:45:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:45:43 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_011	[pipeline.py: 1174]
+05/10 23:45:43 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 23:45:43 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 23:45:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 23:45:57 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011	[save_utils.py: 785]
+05/10 23:45:57 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 14.24s (batch: 4.83s, save: 9.41s)	[pipeline.py: 300]
+05/10 23:45:58 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.59s:
+  episode_total: mean=210.06s, total=210.06s, count=1, min=210055.4ms, max=210055.4ms
+  sensor_polling: mean=518.1ms, total=155.43s, count=300, min=449.3ms, max=699.9ms
+  save_trajectories: mean=9.41s, total=9.41s, count=1, min=9408.1ms, max=9408.1ms
+  physics_step: mean=25.2ms, total=7.56s, count=300, min=18.6ms, max=87.3ms
+  save_batch_prep: mean=4.83s, total=4.83s, count=1, min=4834.6ms, max=4834.6ms
+  task_sampling: mean=591.6ms, total=591.6ms, count=1, min=591.6ms, max=591.6ms
+  task_specific_sample: mean=587.2ms, total=587.2ms, count=1, min=587.2ms, max=587.2ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=535.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=24.0us, 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]
+05/10 23:46:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 23:46:00 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 23:46:00 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 23:46:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:46:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:46:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:46:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:46:00 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 23:46:00 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]
+05/10 23:46:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 23:46:00 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]
+05/10 23:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 23:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 23:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.001132m	[env.py: 870]
+05/10 23:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 23:46:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 23:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 23:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.93106469  0.63508798  0.00113157] yaw=-168.9deg	[env.py: 1019]
+05/10 23:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 23:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 53.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 122.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 64.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.78013499  0.2348868   0.00113157] yaw=172.6deg	[env.py: 1019]
+05/10 23:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 23:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.00041027  0.88707649  0.00113157] yaw=-145.9deg	[env.py: 1019]
+05/10 23:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 23:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 23:46:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=187.0ms, total=187.1ms	[env.py: 1075]
+05/10 23:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.931, 0.635, 0.001)	[env.py: 1079]
+05/10 23:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -168.9 deg	[env.py: 1082]
+05/10 23:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.786m	[env.py: 1086]
+05/10 23:46:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:46:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:46:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:46:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:46:00 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 23:46:00 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/10 23:46:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.091s	[base_object_manipulation_planner_policy.py: 377]
+05/10 23:46:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 23:46:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 23:46:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 23:46:01 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_011	[pipeline.py: 1174]
+05/10 23:46:01 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 23:46:01 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 23:46:01 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.509s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 23:46:01 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.324[m] 80.008[deg]	[grasp_sample.py: 539]
+05/10 23:46:01 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 23:46:01 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 23:46:01 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:46:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 23:46:17 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011	[save_utils.py: 785]
+05/10 23:46:17 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 16.13s (batch: 4.37s, save: 11.76s)	[pipeline.py: 300]
+05/10 23:46:17 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.56s:
+  episode_total: mean=209.05s, total=209.05s, count=1, min=209053.7ms, max=209053.7ms
+  sensor_polling: mean=509.4ms, total=152.82s, count=300, min=447.0ms, max=686.1ms
+  save_trajectories: mean=11.76s, total=11.76s, count=1, min=11759.8ms, max=11759.8ms
+  physics_step: mean=24.6ms, total=7.38s, count=300, min=18.5ms, max=61.6ms
+  save_batch_prep: mean=4.37s, total=4.37s, count=1, min=4373.2ms, max=4373.2ms
+  task_sampling: mean=555.5ms, total=555.5ms, count=1, min=555.5ms, max=555.5ms
+  task_specific_sample: mean=551.6ms, total=551.6ms, count=1, min=551.6ms, max=551.6ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=420.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  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]
+05/10 23:46:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 23:46:19 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 23:46:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 23:46:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:46:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:46:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:46:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:46:19 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 23:46:19 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]
+05/10 23:46:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 23:46:19 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]
+05/10 23:46:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 23:46:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 23:46:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.010541m	[env.py: 870]
+05/10 23:46:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 23:46:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 23:46:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 23:46:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 54.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:46:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.81118134  0.93145618  0.01054105] yaw=-159.9deg	[env.py: 1019]
+05/10 23:46:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 23:46:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.85850979  0.6086276   0.01054105] yaw=-172.5deg	[env.py: 1019]
+05/10 23:46:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 23:46:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -41.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:46:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.84948499  0.69325964  0.01054105] yaw=-160.7deg	[env.py: 1019]
+05/10 23:46:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 23:46:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 23:46:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=270.5ms, total=270.6ms	[env.py: 1075]
+05/10 23:46:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.811, 0.931, 0.011)	[env.py: 1079]
+05/10 23:46:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -159.9 deg	[env.py: 1082]
+05/10 23:46:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.998m	[env.py: 1086]
+05/10 23:46:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:46:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:46:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:46:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:46:20 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 23:46:20 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/10 23:46:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.088s	[base_object_manipulation_planner_policy.py: 377]
+05/10 23:46:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 23:46:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 23:46:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.042s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 23:46:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.081s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 23:46:22 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.540[m] 82.874[deg]	[grasp_sample.py: 539]
+05/10 23:46:22 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 23:46:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 23:46:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:46:35 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:46:36 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:46:46 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 23:46:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:46:47 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 23:46:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:46:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:46:51 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:46:52 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:46:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:46:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:46:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:46:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:46:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:46:58 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 23:46:58 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 23:46:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 23:46:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 23:46:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 23:46:59 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.391s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 23:46:59 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.642[deg]	[grasp_sample.py: 539]
+05/10 23:47:00 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 23:47:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 23:47:02 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 23:47:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 23:47:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:47:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:47:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:47:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:47:02 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 23:47:02 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 23:47:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 23:47:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.043m, effective arm-mount z=0.903m (base_body_z=0.043m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 23:47:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 23:47:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 23:47:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.043145m	[env.py: 870]
+05/10 23:47:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 23:47:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 23:47:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 23:47:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.05526371  1.15538345  0.04314499] yaw=-124.8deg	[env.py: 1019]
+05/10 23:47:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 23:47:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 123.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:47:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -41.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:47:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 110.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:47:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.97408154  1.1266294   0.04314499] yaw=-131.7deg	[env.py: 1019]
+05/10 23:47:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 23:47:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.69478008  0.21991939  0.04314499] yaw=156.3deg	[env.py: 1019]
+05/10 23:47:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 23:47:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 23:47:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=179.7ms, total=179.7ms	[env.py: 1075]
+05/10 23:47:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.055, 1.155, 0.043)	[env.py: 1079]
+05/10 23:47:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -124.8 deg	[env.py: 1082]
+05/10 23:47:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.934m	[env.py: 1086]
+05/10 23:47:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:47:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:47:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:47:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:47:02 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 23:47:02 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/10 23:47:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s	[base_object_manipulation_planner_policy.py: 377]
+05/10 23:47:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 23:47:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 23:47:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 23:47:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.656s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 23:47:05 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.539[m] 81.900[deg]	[grasp_sample.py: 539]
+05/10 23:47:06 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 23:47:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 23:47:08 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 23:47:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 23:47:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:47:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:47:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:47:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:47:08 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 23:47:08 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 23:47:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 23:47:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.043m, effective arm-mount z=0.903m (base_body_z=0.043m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 23:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 23:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 23:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.042869m	[env.py: 870]
+05/10 23:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 23:47:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 23:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 23:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -65.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.1315205   1.20036769  0.04286898] yaw=-132.8deg	[env.py: 1019]
+05/10 23:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 23:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.79346096  0.09589438  0.04286898] yaw=160.3deg	[env.py: 1019]
+05/10 23:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 23:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 124.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 93.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.62357485  0.48062353  0.04286898] yaw=179.2deg	[env.py: 1019]
+05/10 23:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 23:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 23:47:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=172.7ms, total=172.8ms	[env.py: 1075]
+05/10 23:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.132, 1.200, 0.043)	[env.py: 1079]
+05/10 23:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -132.8 deg	[env.py: 1082]
+05/10 23:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.918m	[env.py: 1086]
+05/10 23:47:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:47:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:47:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:47:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:47:08 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 23:47:08 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/10 23:47:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.060s	[base_object_manipulation_planner_policy.py: 377]
+05/10 23:47:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 23:47:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 23:47:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 23:47:12 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.795s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 23:47:12 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.504[m] 84.813[deg]	[grasp_sample.py: 539]
+05/10 23:47:13 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 23:47:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 23:47:15 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 23:47:15 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 23:47:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:47:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:47:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:47:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:47:15 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 23:47:15 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]
+05/10 23:47:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 23:47:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.063m, effective arm-mount z=0.923m (base_body_z=0.063m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 23:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 23:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 23:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.063374m	[env.py: 870]
+05/10 23:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 23:47:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 23:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 23:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -30.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.8591719   0.44542569  0.06337356] yaw=176.9deg	[env.py: 1019]
+05/10 23:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 23:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.77747043  0.25586804  0.06337356] yaw=154.8deg	[env.py: 1019]
+05/10 23:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 23:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.916519    0.15386701  0.06337356] yaw=159.4deg	[env.py: 1019]
+05/10 23:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 23:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 23:47:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=146.6ms, total=146.6ms	[env.py: 1075]
+05/10 23:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.859, 0.445, 0.063)	[env.py: 1079]
+05/10 23:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 176.9 deg	[env.py: 1082]
+05/10 23:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.844m	[env.py: 1086]
+05/10 23:47:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:47:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:47:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:47:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:47:15 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 23:47:15 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/10 23:47:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.061s	[base_object_manipulation_planner_policy.py: 377]
+05/10 23:47:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 23:47:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 23:47:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 23:47:16 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.433s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 23:47:16 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.375[m] 88.830[deg]	[grasp_sample.py: 539]
+05/10 23:47:16 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 23:47:16 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 23:47:16 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:47:18 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:47:27 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 23:47:32 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:47:55 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:48:05 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 23:48:06 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 23:48:10 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:48:35 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_011	[pipeline.py: 1174]
+05/10 23:48:35 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 23:48:35 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 23:48:44 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 23:48:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 23:48:49 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011	[save_utils.py: 785]
+05/10 23:48:49 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 13.56s (batch: 4.23s, save: 9.33s)	[pipeline.py: 300]
+05/10 23:48:49 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.50s:
+  episode_total: mean=208.71s, total=208.71s, count=1, min=208707.3ms, max=208707.3ms
+  sensor_polling: mean=508.0ms, total=152.39s, count=300, min=442.9ms, max=876.1ms
+  save_trajectories: mean=9.33s, total=9.33s, count=1, min=9325.7ms, max=9325.7ms
+  physics_step: mean=24.2ms, total=7.27s, count=300, min=15.4ms, max=52.7ms
+  save_batch_prep: mean=4.23s, total=4.23s, count=1, min=4234.3ms, max=4234.3ms
+  task_sampling: mean=503.2ms, total=503.2ms, count=1, min=503.2ms, max=503.2ms
+  task_specific_sample: mean=499.3ms, total=499.3ms, count=1, min=499.3ms, max=499.3ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=422.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=27.7us, 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]
+05/10 23:48:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 23:48:51 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 23:48:51 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 23:48:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:48:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:48:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:48:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:48:51 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 23:48:51 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]
+05/10 23:48:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 23:48:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.022m, effective arm-mount z=0.882m (base_body_z=0.022m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 23:48:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 23:48:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 23:48:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.021834m	[env.py: 870]
+05/10 23:48:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 23:48:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 23:48:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 23:48:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 70.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:48:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 73.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:48:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -152.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:48:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.00057827  0.86951627  0.02183389] yaw=-155.2deg	[env.py: 1019]
+05/10 23:48:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 23:48:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.93136324  0.3795399   0.02183389] yaw=179.6deg	[env.py: 1019]
+05/10 23:48:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 23:48:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.73946959  0.88077389  0.02183389] yaw=-159.4deg	[env.py: 1019]
+05/10 23:48:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 23:48:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 23:48:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=172.6ms, total=172.6ms	[env.py: 1075]
+05/10 23:48:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.001, 0.870, 0.022)	[env.py: 1079]
+05/10 23:48:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -155.2 deg	[env.py: 1082]
+05/10 23:48:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.802m	[env.py: 1086]
+05/10 23:48:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:48:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:48:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:48:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:48:52 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 23:48:52 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/10 23:48:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.145s	[base_object_manipulation_planner_policy.py: 377]
+05/10 23:48:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 23:48:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 23:48:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 23:48:54 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.425s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 23:48:54 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.382[m] 89.424[deg]	[grasp_sample.py: 539]
+05/10 23:48:54 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 23:48:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 23:48:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:49:09 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 23:49:11 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_011	[pipeline.py: 1174]
+05/10 23:49:11 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 23:49:11 INFO: [Worker 0] Preparing episode data: 286 timesteps	[save_utils.py: 278]
+05/10 23:49:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 23:49:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011	[save_utils.py: 785]
+05/10 23:49:24 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 13.32s (batch: 4.40s, save: 8.91s)	[pipeline.py: 300]
+05/10 23:49:25 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.53s:
+  episode_total: mean=205.48s, total=205.48s, count=1, min=205483.4ms, max=205483.4ms
+  sensor_polling: mean=525.2ms, total=149.67s, count=285, min=454.3ms, max=878.6ms
+  save_trajectories: mean=8.91s, total=8.91s, count=1, min=8914.5ms, max=8914.5ms
+  physics_step: mean=24.9ms, total=7.10s, count=285, min=15.6ms, max=59.0ms
+  save_batch_prep: mean=4.40s, total=4.40s, count=1, min=4401.1ms, max=4401.1ms
+  task_sampling: mean=527.7ms, total=527.7ms, count=1, min=527.7ms, max=527.7ms
+  task_specific_sample: mean=522.9ms, total=522.9ms, count=1, min=522.9ms, max=522.9ms
+  scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
+  mj_forward_sync: mean=564.5us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=28.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 23:49:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 23:49:27 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 23:49:27 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 23:49:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:49:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:49:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:49:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:49:27 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 23:49:27 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]
+05/10 23:49:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 23:49:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.022m, effective arm-mount z=0.882m (base_body_z=0.022m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 23:49:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 23:49:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 23:49:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.021820m	[env.py: 870]
+05/10 23:49:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 23:49:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 23:49:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 23:49:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -163.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:49:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.7866459   0.05552389  0.02182031] yaw=152.0deg	[env.py: 1019]
+05/10 23:49:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 23:49:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 78.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 75.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.04361112  1.09358995  0.02182031] yaw=-139.2deg	[env.py: 1019]
+05/10 23:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 23:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.66489552  0.23432551  0.02182031] yaw=157.8deg	[env.py: 1019]
+05/10 23:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 23:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 23:49:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=348.2ms, total=348.2ms	[env.py: 1075]
+05/10 23:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.787, 0.056, 0.022)	[env.py: 1079]
+05/10 23:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 152.0 deg	[env.py: 1082]
+05/10 23:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.010m	[env.py: 1086]
+05/10 23:49:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:49:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:49:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:49:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:49:28 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 23:49:28 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/10 23:49:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.110s	[base_object_manipulation_planner_policy.py: 377]
+05/10 23:49:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 23:49:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 23:49:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 23:49:32 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.993s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 23:49:32 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.554[m] 88.343[deg]	[grasp_sample.py: 539]
+05/10 23:49:32 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 23:49:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 23:49:33 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:49:37 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_011	[pipeline.py: 1174]
+05/10 23:49:37 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 23:49:37 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 23:49:39 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:49:49 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 23:49:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 23:49:50 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011	[save_utils.py: 785]
+05/10 23:49:50 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 13.71s (batch: 4.64s, save: 9.08s)	[pipeline.py: 300]
+05/10 23:49:51 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.57s:
+  episode_total: mean=211.71s, total=211.71s, count=1, min=211714.7ms, max=211714.7ms
+  sensor_polling: mean=520.2ms, total=156.06s, count=300, min=446.5ms, max=1200.2ms
+  save_trajectories: mean=9.08s, total=9.08s, count=1, min=9077.7ms, max=9077.7ms
+  physics_step: mean=25.4ms, total=7.61s, count=300, min=18.6ms, max=91.8ms
+  save_batch_prep: mean=4.64s, total=4.64s, count=1, min=4636.3ms, max=4636.3ms
+  task_sampling: mean=571.2ms, total=571.2ms, count=1, min=571.2ms, max=571.2ms
+  task_specific_sample: mean=566.1ms, total=566.1ms, count=1, min=566.1ms, max=566.1ms
+  scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
+  mj_forward_sync: mean=549.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=29.9us, 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]
+05/10 23:49:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 23:49:53 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 23:49:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 23:49:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:49:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:49:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:49:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:49:53 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 23:49:53 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]
+05/10 23:49:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 23:49:53 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]
+05/10 23:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 23:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 23:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.093162m	[env.py: 870]
+05/10 23:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 23:49:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 23:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 23:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.9490438   0.70646371  0.0931621 ] yaw=-172.6deg	[env.py: 1019]
+05/10 23:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 23:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -64.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -175.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 156.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.63823696  0.63422802  0.0931621 ] yaw=-162.7deg	[env.py: 1019]
+05/10 23:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 23:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 23:49:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=340.5ms, total=340.6ms	[env.py: 1075]
+05/10 23:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.949, 0.706, 0.093)	[env.py: 1079]
+05/10 23:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -172.6 deg	[env.py: 1082]
+05/10 23:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.786m	[env.py: 1086]
+05/10 23:49:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:49:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:49:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:49:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:49:54 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 23:49:54 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/10 23:49:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.096s	[base_object_manipulation_planner_policy.py: 377]
+05/10 23:49:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 23:49:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 23:49:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 23:49:54 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:49:54 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.697s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 23:49:54 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.371[m] 87.614[deg]	[grasp_sample.py: 539]
+05/10 23:49:54 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 23:49:55 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 23:49:55 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:50:08 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 23:50:29 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_011	[pipeline.py: 1174]
+05/10 23:50:29 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 23:50:29 INFO: [Worker 0] Preparing episode data: 297 timesteps	[save_utils.py: 278]
+05/10 23:50:34 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:50:35 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:50:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 23:50:43 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011	[save_utils.py: 785]
+05/10 23:50:43 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 13.18s (batch: 4.29s, save: 8.89s)	[pipeline.py: 300]
+05/10 23:50:43 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 23:50:43 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=1.75s:
+  episode_total: mean=91.69s, total=366.76s, count=4, min=4290.6ms, max=208181.7ms
+  sensor_polling: mean=536.1ms, total=283.61s, count=529, min=450.5ms, max=1092.9ms
+  physics_step: mean=28.8ms, total=15.24s, count=529, min=16.1ms, max=127.9ms
+  save_trajectories: mean=8.89s, total=8.89s, count=1, min=8890.9ms, max=8890.9ms
+  save_batch_prep: mean=4.29s, total=4.29s, count=1, min=4293.8ms, max=4293.8ms
+  task_sampling: mean=437.9ms, total=1.75s, count=4, min=386.3ms, max=504.7ms
+  task_specific_sample: mean=434.6ms, total=1.74s, count=4, min=382.7ms, max=500.8ms
+  scene_randomize: mean=1.6ms, total=6.5ms, count=4, min=1.4ms, max=2.3ms
+  mj_forward_sync: mean=434.5us, total=1.7ms, count=4, min=0.4ms, max=0.5ms
+  policy_setup: mean=23.7us, total=0.1ms, count=4, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 23:50:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 23:50:45 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 23:50:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 23:50:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:50:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:50:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:50:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:50:45 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 23:50:45 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]
+05/10 23:50:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 23:50:45 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]
+05/10 23:50:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 23:50:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 23:50:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.001129m	[env.py: 870]
+05/10 23:50:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 23:50:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 23:50:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 23:50:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.93477437  0.68839188  0.00112875] yaw=-169.9deg	[env.py: 1019]
+05/10 23:50:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 23:50:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 86.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:50:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 54.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:50:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 54.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:50:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.81840535  0.1328861   0.00112875] yaw=152.1deg	[env.py: 1019]
+05/10 23:50:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 23:50:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.92001577  0.49534052  0.00112875] yaw=-183.1deg	[env.py: 1019]
+05/10 23:50:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 23:50:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 23:50:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=185.2ms, total=185.3ms	[env.py: 1075]
+05/10 23:50:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.935, 0.688, 0.001)	[env.py: 1079]
+05/10 23:50:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -169.9 deg	[env.py: 1082]
+05/10 23:50:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.795m	[env.py: 1086]
+05/10 23:50:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:50:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:50:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:50:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:50:45 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 23:50:45 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/10 23:50:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s	[base_object_manipulation_planner_policy.py: 377]
+05/10 23:50:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 23:50:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 23:50:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 23:50:46 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.563s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 23:50:46 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.311[m] 82.200[deg]	[grasp_sample.py: 539]
+05/10 23:50:46 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 23:50:46 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 23:50:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 23:50:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:50:47 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:50:52 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:51:18 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:51:29 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 23:51:34 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:51:44 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 23:52:08 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_011	[pipeline.py: 1174]
+05/10 23:52:08 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 23:52:08 INFO: [Worker 0] Preparing episode data: 299 timesteps	[save_utils.py: 278]
+05/10 23:52:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 23:52:25 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011	[save_utils.py: 785]
+05/10 23:52:25 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 17.57s (batch: 4.92s, save: 12.65s)	[pipeline.py: 300]
+05/10 23:52:26 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.48s:
+  episode_total: mean=214.27s, total=214.27s, count=1, min=214267.8ms, max=214267.8ms
+  sensor_polling: mean=534.1ms, total=159.17s, count=298, min=462.0ms, max=1032.2ms
+  save_trajectories: mean=12.65s, total=12.65s, count=1, min=12651.7ms, max=12651.7ms
+  physics_step: mean=25.6ms, total=7.63s, count=298, min=18.2ms, max=68.9ms
+  save_batch_prep: mean=4.92s, total=4.92s, count=1, min=4915.3ms, max=4915.3ms
+  task_sampling: mean=483.6ms, total=483.6ms, count=1, min=483.6ms, max=483.6ms
+  task_specific_sample: mean=478.9ms, total=478.9ms, count=1, min=478.9ms, max=478.9ms
+  scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
+  mj_forward_sync: mean=529.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=23.8us, 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]
+05/10 23:52:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 23:52:28 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 23:52:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 23:52:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:52:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:52:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:52:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:52:28 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 23:52:28 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]
+05/10 23:52:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 23:52:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.089m, effective arm-mount z=0.949m (base_body_z=0.089m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 23:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 23:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 23:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.089213m	[env.py: 870]
+05/10 23:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 23:52:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 23:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 23:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 122.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 57.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -63.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.64136258  0.3843181   0.0892128 ] yaw=167.5deg	[env.py: 1019]
+05/10 23:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 23:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -60.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 23:52:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=257.7ms, total=257.8ms	[env.py: 1075]
+05/10 23:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.641, 0.384, 0.089)	[env.py: 1079]
+05/10 23:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 167.5 deg	[env.py: 1082]
+05/10 23:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.065m	[env.py: 1086]
+05/10 23:52:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:52:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:52:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:52:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:52:28 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 23:52:28 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/10 23:52:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.097s	[base_object_manipulation_planner_policy.py: 377]
+05/10 23:52:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 23:52:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 23:52:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 23:52:29 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.745s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 23:52:29 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.605[m] 86.910[deg]	[grasp_sample.py: 539]
+05/10 23:52:29 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 23:52:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 23:52:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:52:33 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 23:52:42 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 23:53:00 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_011	[pipeline.py: 1174]
+05/10 23:53:00 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 23:53:00 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 23:53:09 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_011	[pipeline.py: 1174]
+05/10 23:53:09 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 23:53:09 INFO: [Worker 0] Preparing episode data: 296 timesteps	[save_utils.py: 278]
+05/10 23:53:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 23:53:14 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011	[save_utils.py: 785]
+05/10 23:53:14 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 14.11s (batch: 4.59s, save: 9.52s)	[pipeline.py: 300]
+05/10 23:53:15 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.65s:
+  episode_total: mean=227.79s, total=227.79s, count=1, min=227793.6ms, max=227793.6ms
+  sensor_polling: mean=552.8ms, total=165.84s, count=300, min=467.6ms, max=862.6ms
+  save_trajectories: mean=9.52s, total=9.52s, count=1, min=9520.9ms, max=9520.9ms
+  physics_step: mean=29.4ms, total=8.82s, count=300, min=19.0ms, max=119.3ms
+  save_batch_prep: mean=4.59s, total=4.59s, count=1, min=4587.2ms, max=4587.2ms
+  task_sampling: mean=649.7ms, total=649.7ms, count=1, min=649.7ms, max=649.7ms
+  task_specific_sample: mean=645.2ms, total=645.2ms, count=1, min=645.2ms, max=645.2ms
+  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
+  mj_forward_sync: mean=550.9us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=27.2us, 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]
+05/10 23:53:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 23:53:17 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 23:53:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 23:53:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:53:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:53:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:53:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:53:17 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 23:53:17 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]
+05/10 23:53:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 23:53:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.014m, effective arm-mount z=0.874m (base_body_z=0.014m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 23:53:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 23:53:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 23:53:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.014464m	[env.py: 870]
+05/10 23:53:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 23:53:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 23:53:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 23:53:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 76.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:53:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -59.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:53:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 114.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:53:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.94476567  0.36109704  0.01446412] yaw=175.0deg	[env.py: 1019]
+05/10 23:53:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 23:53:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 113.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:53:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.96003198  0.76849282  0.01446412] yaw=-153.9deg	[env.py: 1019]
+05/10 23:53:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 23:53:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.74441002  0.70876784  0.01446412] yaw=-160.5deg	[env.py: 1019]
+05/10 23:53:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 23:53:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 23:53:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=327.5ms, total=327.5ms	[env.py: 1075]
+05/10 23:53:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.945, 0.361, 0.014)	[env.py: 1079]
+05/10 23:53:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 175.0 deg	[env.py: 1082]
+05/10 23:53:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.767m	[env.py: 1086]
+05/10 23:53:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:53:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:53:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:53:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:53:17 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 23:53:17 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/10 23:53:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.145s	[base_object_manipulation_planner_policy.py: 377]
+05/10 23:53:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 23:53:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 23:53:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 23:53:19 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.058s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 23:53:19 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.327[m] 94.913[deg]	[grasp_sample.py: 539]
+05/10 23:53:19 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 23:53:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 23:53:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:53:26 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 23:53:26 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011	[save_utils.py: 785]
+05/10 23:53:26 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 16.67s (batch: 4.66s, save: 12.01s)	[pipeline.py: 300]
+05/10 23:53:27 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.63s:
+  episode_total: mean=213.84s, total=213.84s, count=1, min=213843.8ms, max=213843.8ms
+  sensor_polling: mean=525.7ms, total=155.07s, count=295, min=452.8ms, max=957.7ms
+  save_trajectories: mean=12.01s, total=12.01s, count=1, min=12005.6ms, max=12005.6ms
+  physics_step: mean=26.1ms, total=7.69s, count=295, min=19.7ms, max=85.2ms
+  save_batch_prep: mean=4.66s, total=4.66s, count=1, min=4662.1ms, max=4662.1ms
+  task_sampling: mean=634.3ms, total=634.3ms, count=1, min=634.3ms, max=634.3ms
+  task_specific_sample: mean=629.9ms, total=629.9ms, count=1, min=629.9ms, max=629.9ms
+  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
+  mj_forward_sync: mean=526.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=25.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 23:53:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 23:53:28 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 23:53:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 23:53:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:53:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:53:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:53:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:53:28 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 23:53:28 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]
+05/10 23:53:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 23:53:28 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]
+05/10 23:53:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 23:53:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 23:53:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.074307m	[env.py: 870]
+05/10 23:53:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 23:53:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 23:53:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 23:53:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -160.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:53:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.76163275  0.8277262   0.07430687] yaw=-153.1deg	[env.py: 1019]
+05/10 23:53:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 23:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.6437277   0.57630709  0.07430687] yaw=-170.2deg	[env.py: 1019]
+05/10 23:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 23:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 54.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.73851687  0.58731156  0.07430687] yaw=-178.9deg	[env.py: 1019]
+05/10 23:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 23:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 23:53:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=120.9ms, total=120.9ms	[env.py: 1075]
+05/10 23:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.762, 0.828, 0.074)	[env.py: 1079]
+05/10 23:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -153.1 deg	[env.py: 1082]
+05/10 23:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.002m	[env.py: 1086]
+05/10 23:53:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:53:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:53:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:53:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:53:29 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 23:53:29 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/10 23:53:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s	[base_object_manipulation_planner_policy.py: 377]
+05/10 23:53:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 23:53:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 23:53:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 23:53:30 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.838s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 23:53:30 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.533[m] 76.059[deg]	[grasp_sample.py: 539]
+05/10 23:53:30 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 23:53:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 23:53:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:53:31 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 23:53:37 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:53:47 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 23:53:51 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_011	[pipeline.py: 1174]
+05/10 23:53:51 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 23:53:51 INFO: [Worker 0] Preparing episode data: 283 timesteps	[save_utils.py: 278]
+05/10 23:53:52 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:53:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:54:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 23:54:03 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011	[save_utils.py: 785]
+05/10 23:54:03 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 12.02s (batch: 3.99s, save: 8.03s)	[pipeline.py: 300]
+05/10 23:54:03 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.50s:
+  episode_total: mean=198.61s, total=198.61s, count=1, min=198612.7ms, max=198612.7ms
+  sensor_polling: mean=544.0ms, total=153.40s, count=282, min=454.3ms, max=1166.6ms
+  physics_step: mean=28.7ms, total=8.09s, count=282, min=16.1ms, max=103.5ms
+  save_trajectories: mean=8.03s, total=8.03s, count=1, min=8029.7ms, max=8029.7ms
+  save_batch_prep: mean=3.99s, total=3.99s, count=1, min=3994.8ms, max=3994.8ms
+  task_sampling: mean=496.7ms, total=496.7ms, count=1, min=496.7ms, max=496.7ms
+  task_specific_sample: mean=493.1ms, total=493.1ms, count=1, min=493.1ms, max=493.1ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=439.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 23:54:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 23:54:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 23:54:05 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 23:54:05 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 23:54:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:54:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:54:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:54:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:54:05 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 23:54:05 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]
+05/10 23:54:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 23:54:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.077m, effective arm-mount z=0.937m (base_body_z=0.077m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 23:54:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 23:54:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 23:54:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.076562m	[env.py: 870]
+05/10 23:54:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 23:54:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 23:54:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 23:54:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.81203644  0.91616264  0.07656162] yaw=-145.4deg	[env.py: 1019]
+05/10 23:54:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 23:54:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -48.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:54:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -69.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:54:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -29.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:54:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -49.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:54:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 23:54:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=246.9ms, total=246.9ms	[env.py: 1075]
+05/10 23:54:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.812, 0.916, 0.077)	[env.py: 1079]
+05/10 23:54:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -145.4 deg	[env.py: 1082]
+05/10 23:54:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.991m	[env.py: 1086]
+05/10 23:54:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:54:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:54:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:54:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:54:06 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 23:54:06 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/10 23:54:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.098s	[base_object_manipulation_planner_policy.py: 377]
+05/10 23:54:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 23:54:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 23:54:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 23:54:08 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.739s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 23:54:08 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.592[m] 96.562[deg]	[grasp_sample.py: 539]
+05/10 23:54:08 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 23:54:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 23:54:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:54:09 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:54:25 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:54:36 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 23:54:41 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:54:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:54:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:54:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:55:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:55:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:55:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:55:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:55:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:55:13 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 23:55:13 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 23:55:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 23:55:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 23:55:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 23:55:14 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.439s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 23:55:14 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.694[deg]	[grasp_sample.py: 539]
+05/10 23:55:14 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 23:55:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 23:55:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:55:17 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:55:22 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:55:23 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 23:55:28 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 23:55:33 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:55:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
diff --git a/fridge_7/chunk_011/shard_1_of_4.log b/fridge_7/chunk_011/shard_1_of_4.log
new file mode 100644
index 0000000000000000000000000000000000000000..a25258efa52f0e292270e31522d449ca9e58e967
--- /dev/null
+++ b/fridge_7/chunk_011/shard_1_of_4.log
@@ -0,0 +1,846 @@
+==========================================
+Generating data for: fridge -> /scr/ravenh/fridge_7/sim_chunks/chunk_011
+  shard=1/4  seed=21101  samples=3
+  CUDA_VISIBLE_DEVICES=0
+  scene=ithor_minimal_fridge_7  radius=[0.7,1.1]  theta=[-0.5,0.9]
+==========================================
+[nltk_data] Downloading package wordnet to /svl/u/ravenh/nltk_data...
+[nltk_data]   Package wordnet is already up-to-date!
+[nltk_data] Downloading package wordnet2022 to
+[nltk_data]     /svl/u/ravenh/nltk_data...
+[nltk_data]   Package wordnet2022 is already up-to-date!
+/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/evaluation/eval_main.py:127: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610).
+  _assert_data_versions_match()
+INFO:__main__:Overrode 1 camera(s) from scripts/datagen/picked_camera_extrinsics.json (pos_noise=0.05m, rot_noise=5.0deg)
+INFO:__main__:[setup_config] open task detected: defaulted task_sampler_config.placement_robot_height = 1.4m (override with --placement_robot_height)
+INFO:__main__:Mesh stand active: --robot_base_z=0.86m will be realized by offsetting the stand body, not by resizing.
+INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_011
+[05/10 23:31:25 INFO pipeline.py:640] WandB logging disabled (environment variables not set)
+[05/10 23:31:25 INFO pipeline.py:1359] Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes
+[05/10 23:31:25 INFO pipeline.py:1366] Evaluation configuration:
+/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/site-packages/pydantic/main.py:464: UserWarning: Pydantic serializer warnings:
+  PydanticSerializationUnexpectedValue(Expected `list[str]` - serialized value may not be as expected [field_name='receptacle_types', input_value=('ArmChair', 'Bed', 'Chai...fa', 'Stool', 'TVStand'), input_type=tuple])
+  PydanticSerializationUnexpectedValue(Expected `str` - serialized value may not be as expected [field_name='output_dir', input_value=PosixPath('/scr/ravenh/fr...7/sim_chunks/chunk_011'), input_type=PosixPath])
+  return self.__pydantic_serializer__.to_python(
+[05/10 23:31:25 INFO pipeline.py:1367] {'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_7/sim_chunks/chunk_011'),
+ '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 0x7c9013a26b10>,
+ 'robot_config': {'K_damping': None,
+                  'K_stiffness': None,
+                  '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_7',
+ 'seed': 21101,
+ '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': 0.2,
+                         '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'}
+INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_011
+[05/10 23:31:25 Worker 0 INFO task_sampler.py:317] 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'}}
+[05/10 23:31:25 Worker 0 INFO pipeline.py:437] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler
+[05/10 23:31:25 Worker 0 INFO pipeline.py:464] Worker 0 starting house 1 (index 0/1)
+DEBUG:filelock:Attempting to acquire lock 136958245300112 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Lock 136958245300112 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:molmospaces_resources:Building trie DB for scenes/ithor_minimal_fridge_7 under /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7
+DEBUG:filelock:Attempting to release lock 136958245300112 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Lock 136958245300112 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Attempting to acquire lock 136958249074192 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 136958249074192 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 136958249073488 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 136958249073488 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 136958249073488 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 136958249073488 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 136958249074192 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 136958249074192 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 136958249390928 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 136958249390928 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 136958249397328 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 136958249397328 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:molmospaces_resources:Ensuring 0 grasps archive(s) for droid_objaverse version=20251218
+DEBUG:filelock:Attempting to release lock 136958249397328 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 136958249397328 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 136958249390928 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 136958249390928 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+[05/10 23:31:25 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist
+DEBUG:OpenGL.platform.ctypesloader:Loaded libEGL.so => libEGL.so <CDLL 'libEGL.so', handle 589ccb05d6a0 at 0x7c90139c5cd0>
+DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 589ccb05eff0 at 0x7c9013f31150>
+INFO:OpenGL.acceleratesupport:No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
+DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 589ccb05eff0 at 0x7c9013ebd250>
+[05/10 23:31:28 Worker 0 INFO task_sampler.py:797] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml
+[05/10 23:31:28 Worker 0 INFO pick_task_sampler.py:197] Setting up scene for house 1, task None...
+[05/10 23:31:28 Worker 0 INFO pick_task_sampler.py:842] Found 1 candidate pickup objects in the scene
+[05/10 23:31:28 Worker 0 INFO pick_task_sampler.py:926] Filtered to 1 valid candidate pickup objects, 100.0 %
+[05/10 23:31:28 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 23:31:28 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 23:31:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:31:28 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:31:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:31:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:31:28 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 23:31:28 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 23:31:28 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 23:31:28 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.061m, effective arm-mount z=0.921m (base_body_z=0.061m, pedestal_h=0.860m)
+[05/10 23:31:28 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 23:31:28 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 23:31:28 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.060578m
+[05/10 23:31:28 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 23:31:28 Worker 0 INFO env.py:780] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)
+[05/10 23:31:28 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 23:31:28 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.82021128  0.46485451  0.06057821] yaw=172.8deg
+[05/10 23:31:28 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 23:31:28 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.70555294  0.56070272  0.06057821] yaw=-182.6deg
+[05/10 23:31:28 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 23:31:28 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -35.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:31:28 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -58.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:31:28 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -60.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:31:28 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.86486561  0.11360192  0.06057821] yaw=159.2deg
+[05/10 23:31:28 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 23:31:28 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 23:31:28 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=13.5ms, retries=208.7ms, total=222.2ms
+[05/10 23:31:28 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.820, 0.465, 0.061)
+[05/10 23:31:28 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 172.8 deg
+[05/10 23:31:28 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.882m
+[05/10 23:31:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:31:28 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:31:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:31:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:31:29 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 23:31:29 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 0/18 collected=0/3
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+[05/10 23:31:57 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 28.229s
+[05/10 23:31:57 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 23:31:57 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 23:31:57 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.051s, found 88 non-colliding grasps
+[05/10 23:31:57 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.447s, found feasible grasp: True
+[05/10 23:31:57 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.427[m] 88.646[deg]
+[05/10 23:31:57 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 23:31:58 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 23:31:58 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 23:32:44 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 23:32:55 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 23:33:00 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 23:34:52 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True
+/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/subprocess.py:1885: RuntimeWarning: os.fork() was called. os.fork() is incompatible with multithreaded code, and JAX is multithreaded, so this will likely lead to a deadlock.
+  self.pid = _fork_exec(
+[05/10 23:35:12 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_011
+[05/10 23:35:12 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_011 batch 1/4: 1 episodes
+[05/10 23:35:12 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 23:35:26 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+DEBUG:h5py._conv:Creating converter from 5 to 3
+[05/10 23:35:26 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011
+[05/10 23:35:26 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_011 in 14.19s (batch: 3.64s, save: 10.54s)
+[05/10 23:35:27 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 0 house 1 success=True episode_total=3.40s:
+  episode_total: mean=241.55s, total=241.55s, count=1, min=241545.7ms, max=241545.7ms
+  sensor_polling: mean=520.7ms, total=156.21s, count=300, min=439.5ms, max=910.8ms
+  save_trajectories: mean=10.54s, total=10.54s, count=1, min=10544.3ms, max=10544.3ms
+  physics_step: mean=25.2ms, total=7.56s, count=300, min=16.5ms, max=85.4ms
+  save_batch_prep: mean=3.64s, total=3.64s, count=1, min=3641.0ms, max=3641.0ms
+  task_sampling: mean=3.40s, total=3.40s, count=1, min=3400.4ms, max=3400.4ms
+  scene_load: mean=2.89s, total=2.89s, count=1, min=2886.0ms, max=2886.0ms
+  scene_env_create: mean=1.96s, total=1.96s, count=1, min=1956.3ms, max=1956.3ms
+  scene_compile: mean=773.8ms, total=773.8ms, count=1, min=773.8ms, max=773.8ms
+  compile_mujoco: mean=566.4ms, total=566.4ms, count=1, min=566.4ms, max=566.4ms
+  task_specific_sample: mean=511.2ms, total=511.2ms, count=1, min=511.2ms, max=511.2ms
+  compile_xml_load: mean=146.3ms, total=146.3ms, count=1, min=146.3ms, max=146.3ms
+  scene_init: mean=108.7ms, total=108.7ms, count=1, min=108.7ms, max=108.7ms
+  scene_asset_install: mean=46.8ms, total=46.8ms, count=1, min=46.8ms, max=46.8ms
+  compile_aux_objects: mean=45.7ms, total=45.7ms, count=1, min=45.7ms, max=45.7ms
+  compile_aux_policy_objects: mean=45.6ms, total=45.6ms, count=1, min=45.6ms, max=45.6ms
+  asset_install_grasps: mean=33.3ms, total=33.3ms, count=1, min=33.3ms, max=33.3ms
+  asset_install_objects: mean=10.3ms, total=10.3ms, count=1, min=10.3ms, max=10.3ms
+  compile_robot_add: mean=7.0ms, total=7.0ms, count=1, min=7.0ms, max=7.0ms
+  asset_install_scene: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
+  scene_randomize: mean=1.6ms, total=1.6ms, count=1, min=1.6ms, max=1.6ms
+  mj_forward_sync: mean=446.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=44.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 23:35:29 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 23:35:29 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 23:35:29 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 23:35:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:35:29 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:35:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:35:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:35:29 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 23:35:29 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 23:35:29 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 23:35:29 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.048m, effective arm-mount z=0.908m (base_body_z=0.048m, pedestal_h=0.860m)
+[05/10 23:35:29 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 23:35:29 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 23:35:29 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.047841m
+[05/10 23:35:29 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 23:35:29 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 23:35:29 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 23:35:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -164.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:35:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.01846892  1.08348091  0.04784074] yaw=-138.2deg
+[05/10 23:35:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 23:35:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.94987756  0.18479586  0.04784074] yaw=162.8deg
+[05/10 23:35:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 23:35:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.80033165  1.09570119  0.04784074] yaw=-149.7deg
+[05/10 23:35:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 23:35:29 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 23:35:29 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=106.7ms, total=106.7ms
+[05/10 23:35:29 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.018, 1.083, 0.048)
+[05/10 23:35:29 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -138.2 deg
+[05/10 23:35:29 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.911m
+[05/10 23:35:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:35:29 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:35:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:35:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:35:29 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 23:35:29 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 1/18 collected=0/3
+[05/10 23:35:29 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.083s
+[05/10 23:35:29 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 23:35:29 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 23:35:29 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps
+[05/10 23:35:31 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.708s, found feasible grasp: True
+[05/10 23:35:31 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.489[m] 92.930[deg]
+[05/10 23:35:31 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 23:35:31 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 23:35:31 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 23:36:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 23:36:37 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 23:36:41 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 23:38:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 23:38:08 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 23:38:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 23:38:11 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 23:38:13 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 23:38:14 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 23:38:16 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 23:38:17 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 23:38:17 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 23:38:17 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 23:38:17 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 23:38:17 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 23:38:17 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.051s, found 76 non-colliding grasps
+[05/10 23:38:19 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.596s, found feasible grasp: True
+[05/10 23:38:19 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.407[deg]
+[05/10 23:38:20 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 1 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 23:38:22 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 23:38:22 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 23:38:22 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 23:38:22 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:38:22 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:38:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:38:22 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:38:22 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 23:38:22 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 23:38:22 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 23:38:22 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.093m, effective arm-mount z=0.953m (base_body_z=0.093m, pedestal_h=0.860m)
+[05/10 23:38:22 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 23:38:22 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 23:38:22 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.093436m
+[05/10 23:38:22 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 23:38:22 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 23:38:22 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 23:38:22 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -30.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:38:22 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 76.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:38:22 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.73260005  0.8442576   0.09343575] yaw=-163.0deg
+[05/10 23:38:22 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 23:38:22 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.90980662  0.59657406  0.09343575] yaw=-177.1deg
+[05/10 23:38:22 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 23:38:22 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 100.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:38:22 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.92869004  1.19150309  0.09343575] yaw=-144.9deg
+[05/10 23:38:22 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 23:38:22 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 23:38:22 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=208.1ms, total=208.2ms
+[05/10 23:38:22 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.733, 0.844, 0.093)
+[05/10 23:38:22 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -163.0 deg
+[05/10 23:38:22 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.035m
+[05/10 23:38:22 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:38:22 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:38:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:38:22 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:38:22 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 23:38:22 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 2/18 collected=0/3
+[05/10 23:38:22 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.051s
+[05/10 23:38:22 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 23:38:22 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 23:38:22 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps
+[05/10 23:38:24 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.849s, found feasible grasp: True
+[05/10 23:38:24 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.618[m] 86.381[deg]
+[05/10 23:38:24 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 23:38:25 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 23:38:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 23:39:30 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 23:39:42 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 23:39:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 23:41:10 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True
+[05/10 23:41:32 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_011
+[05/10 23:41:32 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_011 batch 1/4: 1 episodes
+[05/10 23:41:32 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 23:41:47 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 23:41:47 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011
+[05/10 23:41:47 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_011 in 15.37s (batch: 5.27s, save: 10.10s)
+[05/10 23:41:48 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 2 house 1 success=True episode_total=0.94s:
+  episode_total: mean=188.62s, total=377.25s, count=2, min=171302.7ms, max=205943.5ms
+  sensor_polling: mean=517.8ms, total=301.34s, count=582, min=436.6ms, max=927.4ms
+  physics_step: mean=25.7ms, total=14.94s, count=582, min=16.3ms, max=140.9ms
+  save_trajectories: mean=10.10s, total=10.10s, count=1, min=10095.8ms, max=10095.8ms
+  save_batch_prep: mean=5.27s, total=5.27s, count=1, min=5269.7ms, max=5269.7ms
+  task_sampling: mean=470.9ms, total=941.9ms, count=2, min=446.0ms, max=495.8ms
+  task_specific_sample: mean=467.5ms, total=935.0ms, count=2, min=442.1ms, max=492.9ms
+  scene_randomize: mean=1.9ms, total=3.8ms, count=2, min=1.3ms, max=2.5ms
+  mj_forward_sync: mean=409.7us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=21.0us, 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
+[05/10 23:41:49 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 23:41:49 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 23:41:49 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 23:41:49 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:41:49 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:41:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:41:49 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:41:49 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 23:41:49 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 23:41:49 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 23:41:49 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.042m, effective arm-mount z=0.902m (base_body_z=0.042m, pedestal_h=0.860m)
+[05/10 23:41:49 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 23:41:49 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 23:41:49 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.041823m
+[05/10 23:41:49 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 23:41:49 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 23:41:49 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 23:41:49 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 61.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:41:49 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -74.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:41:49 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 105.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:41:49 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 92.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:41:49 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.17183616  1.14655706  0.04182274] yaw=-119.4deg
+[05/10 23:41:49 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 23:41:49 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.98990909  0.88163744  0.04182274] yaw=-146.5deg
+[05/10 23:41:49 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 23:41:50 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.99373074  0.11898655  0.04182274] yaw=161.1deg
+[05/10 23:41:50 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 23:41:50 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 23:41:50 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=222.9ms, total=222.9ms
+[05/10 23:41:50 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.172, 1.147, 0.042)
+[05/10 23:41:50 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -119.4 deg
+[05/10 23:41:50 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.850m
+[05/10 23:41:50 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:41:50 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:41:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:41:50 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:41:50 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 23:41:50 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 3/18 collected=0/3
+[05/10 23:41:50 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.094s
+[05/10 23:41:50 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 23:41:50 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 23:41:50 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.063s, found 88 non-colliding grasps
+[05/10 23:41:52 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.673s, found feasible grasp: True
+[05/10 23:41:52 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.462[m] 92.781[deg]
+[05/10 23:41:53 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 3 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
+    observation, _info = task.reset()  # don't update env after reset!
+                         ^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
+    self._registered_policy.reset()
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 23:41:54 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 23:41:54 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 23:41:54 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 23:41:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:41:54 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:41:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:41:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:41:54 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 23:41:54 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 23:41:54 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 23:41:54 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.020m, effective arm-mount z=0.880m (base_body_z=0.020m, pedestal_h=0.860m)
+[05/10 23:41:54 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 23:41:54 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 23:41:54 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.020075m
+[05/10 23:41:54 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 23:41:54 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 23:41:54 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 23:41:55 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -43.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:41:55 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.86758419  0.84399913  0.02007452] yaw=-149.2deg
+[05/10 23:41:55 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 23:41:55 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -42.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:41:55 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -171.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:41:55 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.67631784  0.66575459  0.02007452] yaw=-158.7deg
+[05/10 23:41:55 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 23:41:55 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.66726536  0.45107961  0.02007452] yaw=177.1deg
+[05/10 23:41:55 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 23:41:55 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 23:41:55 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=132.4ms, total=132.4ms
+[05/10 23:41:55 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.868, 0.844, 0.020)
+[05/10 23:41:55 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -149.2 deg
+[05/10 23:41:55 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.910m
+[05/10 23:41:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:41:55 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:41:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:41:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:41:55 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 23:41:55 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 4/18 collected=0/3
+[05/10 23:41:55 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.053s
+[05/10 23:41:55 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 23:41:55 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 23:41:55 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.053s, found 88 non-colliding grasps
+[05/10 23:41:56 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.677s, found feasible grasp: True
+[05/10 23:41:56 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.472[m] 85.760[deg]
+[05/10 23:41:56 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 23:41:56 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 23:41:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 23:42:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 23:42:58 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 23:43:03 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 23:44:39 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True
+[05/10 23:45:03 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_011
+[05/10 23:45:03 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_011 batch 1/4: 1 episodes
+[05/10 23:45:03 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 23:45:18 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 23:45:18 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011
+[05/10 23:45:18 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_011 in 14.91s (batch: 4.50s, save: 10.41s)
+[05/10 23:45:19 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 4 house 1 success=True episode_total=0.92s:
+  episode_total: mean=103.88s, total=207.76s, count=2, min=3471.0ms, max=204292.1ms
+  sensor_polling: mean=507.1ms, total=152.13s, count=300, min=442.0ms, max=766.1ms
+  save_trajectories: mean=10.41s, total=10.41s, count=1, min=10409.5ms, max=10409.5ms
+  physics_step: mean=24.5ms, total=7.34s, count=300, min=17.7ms, max=85.0ms
+  save_batch_prep: mean=4.50s, total=4.50s, count=1, min=4497.7ms, max=4497.7ms
+  task_sampling: mean=460.9ms, total=921.9ms, count=2, min=377.4ms, max=544.5ms
+  task_specific_sample: mean=457.5ms, total=915.0ms, count=2, min=374.6ms, max=540.4ms
+  scene_randomize: mean=1.9ms, total=3.8ms, count=2, min=1.1ms, max=2.7ms
+  mj_forward_sync: mean=436.6us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=20.0us, 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
+[05/10 23:45:20 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 23:45:20 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 23:45:20 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 23:45:20 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:45:20 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:45:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:45:20 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:45:20 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 23:45:20 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 23:45:20 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 23:45:20 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.010m, effective arm-mount z=0.870m (base_body_z=0.010m, pedestal_h=0.860m)
+[05/10 23:45:20 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 23:45:20 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 23:45:20 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.009867m
+[05/10 23:45:20 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 23:45:20 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 23:45:21 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 23:45:21 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -34.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:45:21 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 115.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:45:21 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -64.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:45:21 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -154.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:45:21 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.81369851  1.04613315  0.00986742] yaw=-151.4deg
+[05/10 23:45:21 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 23:45:21 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.75355423  0.29282588  0.00986742] yaw=178.8deg
+[05/10 23:45:21 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 23:45:21 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 23:45:21 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=205.5ms, total=205.5ms
+[05/10 23:45:21 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.814, 1.046, 0.010)
+[05/10 23:45:21 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -151.4 deg
+[05/10 23:45:21 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.053m
+[05/10 23:45:21 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:45:21 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:45:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:45:21 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:45:21 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 23:45:21 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 5/18 collected=0/3
+[05/10 23:45:21 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.081s
+[05/10 23:45:21 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 23:45:21 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 23:45:21 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps
+[05/10 23:45:23 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.815s, found feasible grasp: True
+[05/10 23:45:23 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.656[m] 89.651[deg]
+[05/10 23:45:23 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 23:45:24 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 23:45:24 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 23:46:35 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 23:46:46 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 23:46:51 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 23:48:06 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True
+[05/10 23:48:35 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_011
+[05/10 23:48:35 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_011 batch 1/4: 1 episodes
+[05/10 23:48:35 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 23:48:49 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 23:48:49 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011
+[05/10 23:48:49 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_011 in 13.56s (batch: 4.23s, save: 9.33s)
+[05/10 23:48:49 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 5 house 1 success=True episode_total=0.50s:
+  episode_total: mean=208.71s, total=208.71s, count=1, min=208707.3ms, max=208707.3ms
+  sensor_polling: mean=508.0ms, total=152.39s, count=300, min=442.9ms, max=876.1ms
+  save_trajectories: mean=9.33s, total=9.33s, count=1, min=9325.7ms, max=9325.7ms
+  physics_step: mean=24.2ms, total=7.27s, count=300, min=15.4ms, max=52.7ms
+  save_batch_prep: mean=4.23s, total=4.23s, count=1, min=4234.3ms, max=4234.3ms
+  task_sampling: mean=503.2ms, total=503.2ms, count=1, min=503.2ms, max=503.2ms
+  task_specific_sample: mean=499.3ms, total=499.3ms, count=1, min=499.3ms, max=499.3ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=422.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=27.7us, 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
+[05/10 23:48:51 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 23:48:51 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 23:48:51 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 23:48:51 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:48:51 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:48:51 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:48:51 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:48:51 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 23:48:51 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 23:48:51 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 23:48:51 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.022m, effective arm-mount z=0.882m (base_body_z=0.022m, pedestal_h=0.860m)
+[05/10 23:48:51 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 23:48:51 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 23:48:51 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.021834m
+[05/10 23:48:51 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 23:48:51 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 23:48:51 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 23:48:51 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 70.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:48:51 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 73.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:48:52 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -152.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:48:52 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.00057827  0.86951627  0.02183389] yaw=-155.2deg
+[05/10 23:48:52 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 23:48:52 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.93136324  0.3795399   0.02183389] yaw=179.6deg
+[05/10 23:48:52 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 23:48:52 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.73946959  0.88077389  0.02183389] yaw=-159.4deg
+[05/10 23:48:52 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 23:48:52 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 23:48:52 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=172.6ms, total=172.6ms
+[05/10 23:48:52 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.001, 0.870, 0.022)
+[05/10 23:48:52 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -155.2 deg
+[05/10 23:48:52 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.802m
+[05/10 23:48:52 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:48:52 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:48:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:48:52 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:48:52 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 23:48:52 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 6/18 collected=0/3
+[05/10 23:48:52 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.145s
+[05/10 23:48:52 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 23:48:52 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 23:48:52 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps
+[05/10 23:48:54 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.425s, found feasible grasp: True
+[05/10 23:48:54 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.382[m] 89.424[deg]
+[05/10 23:48:54 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 23:48:54 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 23:48:54 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 23:49:39 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 23:49:49 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 23:49:54 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 23:51:44 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True
+[05/10 23:52:08 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_011
+[05/10 23:52:08 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_011 batch 1/4: 1 episodes
+[05/10 23:52:08 Worker 0 INFO save_utils.py:278] Preparing episode data: 299 timesteps
+[05/10 23:52:25 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 23:52:25 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011
+[05/10 23:52:25 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_011 in 17.57s (batch: 4.92s, save: 12.65s)
+[05/10 23:52:26 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 6 house 1 success=True episode_total=0.48s:
+  episode_total: mean=214.27s, total=214.27s, count=1, min=214267.8ms, max=214267.8ms
+  sensor_polling: mean=534.1ms, total=159.17s, count=298, min=462.0ms, max=1032.2ms
+  save_trajectories: mean=12.65s, total=12.65s, count=1, min=12651.7ms, max=12651.7ms
+  physics_step: mean=25.6ms, total=7.63s, count=298, min=18.2ms, max=68.9ms
+  save_batch_prep: mean=4.92s, total=4.92s, count=1, min=4915.3ms, max=4915.3ms
+  task_sampling: mean=483.6ms, total=483.6ms, count=1, min=483.6ms, max=483.6ms
+  task_specific_sample: mean=478.9ms, total=478.9ms, count=1, min=478.9ms, max=478.9ms
+  scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
+  mj_forward_sync: mean=529.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=23.8us, 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
+[05/10 23:52:28 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 23:52:28 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 23:52:28 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 23:52:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:52:28 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:52:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:52:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:52:28 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 23:52:28 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 23:52:28 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 23:52:28 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.089m, effective arm-mount z=0.949m (base_body_z=0.089m, pedestal_h=0.860m)
+[05/10 23:52:28 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 23:52:28 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 23:52:28 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.089213m
+[05/10 23:52:28 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 23:52:28 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 23:52:28 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 23:52:28 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 122.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:52:28 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 57.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:52:28 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -63.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:52:28 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.64136258  0.3843181   0.0892128 ] yaw=167.5deg
+[05/10 23:52:28 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 23:52:28 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -60.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:52:28 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 23:52:28 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=257.7ms, total=257.8ms
+[05/10 23:52:28 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.641, 0.384, 0.089)
+[05/10 23:52:28 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 167.5 deg
+[05/10 23:52:28 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.065m
+[05/10 23:52:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:52:28 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:52:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:52:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:52:28 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 23:52:28 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 7/18 collected=0/3
+[05/10 23:52:28 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.097s
+[05/10 23:52:28 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 23:52:28 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 23:52:28 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps
+[05/10 23:52:29 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.745s, found feasible grasp: True
+[05/10 23:52:29 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.605[m] 86.910[deg]
+[05/10 23:52:29 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 23:52:30 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 23:52:30 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 23:53:37 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 23:53:47 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 23:53:52 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 23:55:23 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True
diff --git a/fridge_7/chunk_011/shard_2_of_4.log b/fridge_7/chunk_011/shard_2_of_4.log
new file mode 100644
index 0000000000000000000000000000000000000000..545ce6338140605d21bb8d43afb431922b41ae1e
--- /dev/null
+++ b/fridge_7/chunk_011/shard_2_of_4.log
@@ -0,0 +1,825 @@
+==========================================
+Generating data for: fridge -> /scr/ravenh/fridge_7/sim_chunks/chunk_011
+  shard=2/4  seed=21102  samples=3
+  CUDA_VISIBLE_DEVICES=1
+  scene=ithor_minimal_fridge_7  radius=[0.7,1.1]  theta=[-0.5,0.9]
+==========================================
+[nltk_data] Downloading package wordnet to /svl/u/ravenh/nltk_data...
+[nltk_data]   Package wordnet is already up-to-date!
+[nltk_data] Downloading package wordnet2022 to
+[nltk_data]     /svl/u/ravenh/nltk_data...
+[nltk_data]   Package wordnet2022 is already up-to-date!
+/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/evaluation/eval_main.py:127: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610).
+  _assert_data_versions_match()
+INFO:__main__:Overrode 1 camera(s) from scripts/datagen/picked_camera_extrinsics.json (pos_noise=0.05m, rot_noise=5.0deg)
+INFO:__main__:[setup_config] open task detected: defaulted task_sampler_config.placement_robot_height = 1.4m (override with --placement_robot_height)
+INFO:__main__:Mesh stand active: --robot_base_z=0.86m will be realized by offsetting the stand body, not by resizing.
+INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_011
+[05/10 23:31:26 INFO pipeline.py:640] WandB logging disabled (environment variables not set)
+[05/10 23:31:26 INFO pipeline.py:1359] Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes
+[05/10 23:31:26 INFO pipeline.py:1366] Evaluation configuration:
+/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/site-packages/pydantic/main.py:464: UserWarning: Pydantic serializer warnings:
+  PydanticSerializationUnexpectedValue(Expected `list[str]` - serialized value may not be as expected [field_name='receptacle_types', input_value=('ArmChair', 'Bed', 'Chai...fa', 'Stool', 'TVStand'), input_type=tuple])
+  PydanticSerializationUnexpectedValue(Expected `str` - serialized value may not be as expected [field_name='output_dir', input_value=PosixPath('/scr/ravenh/fr...7/sim_chunks/chunk_011'), input_type=PosixPath])
+  return self.__pydantic_serializer__.to_python(
+[05/10 23:31:26 INFO pipeline.py:1367] {'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_7/sim_chunks/chunk_011'),
+ '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 0x76b1b3d2ba10>,
+ 'robot_config': {'K_damping': None,
+                  'K_stiffness': None,
+                  '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_7',
+ 'seed': 21102,
+ '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': 0.2,
+                         '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'}
+INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_011
+[05/10 23:31:26 Worker 0 INFO task_sampler.py:317] 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'}}
+[05/10 23:31:26 Worker 0 INFO pipeline.py:437] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler
+[05/10 23:31:26 Worker 0 INFO pipeline.py:464] Worker 0 starting house 1 (index 0/1)
+DEBUG:filelock:Attempting to acquire lock 130505593498768 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Lock 130505593498768 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:molmospaces_resources:Building trie DB for scenes/ithor_minimal_fridge_7 under /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7
+DEBUG:filelock:Attempting to release lock 130505593498768 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Lock 130505593498768 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Attempting to acquire lock 130505595042896 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 130505595042896 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 130505595034000 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 130505595034000 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 130505595034000 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 130505595034000 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 130505595042896 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 130505595042896 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 130505593603152 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 130505593603152 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 130505593615184 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 130505593615184 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:molmospaces_resources:Ensuring 0 grasps archive(s) for droid_objaverse version=20251218
+DEBUG:filelock:Attempting to release lock 130505593615184 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 130505593615184 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 130505593603152 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 130505593603152 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+[05/10 23:31:26 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist
+DEBUG:OpenGL.platform.ctypesloader:Loaded libEGL.so => libEGL.so <CDLL 'libEGL.so', handle 5e95fb1d62d0 at 0x76b1b4159150>
+DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 5e95fb203e70 at 0x76b1b3cc6b90>
+INFO:OpenGL.acceleratesupport:No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
+DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 5e95fb203e70 at 0x76b1b40e7b50>
+[05/10 23:31:29 Worker 0 INFO task_sampler.py:797] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml
+[05/10 23:31:29 Worker 0 INFO pick_task_sampler.py:197] Setting up scene for house 1, task None...
+[05/10 23:31:29 Worker 0 INFO pick_task_sampler.py:842] Found 1 candidate pickup objects in the scene
+[05/10 23:31:29 Worker 0 INFO pick_task_sampler.py:926] Filtered to 1 valid candidate pickup objects, 100.0 %
+[05/10 23:31:29 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 23:31:29 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 23:31:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:31:29 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:31:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:31:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:31:29 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 23:31:29 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 23:31:29 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 23:31:29 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.033m, effective arm-mount z=0.893m (base_body_z=0.033m, pedestal_h=0.860m)
+[05/10 23:31:29 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 23:31:29 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 23:31:29 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.032647m
+[05/10 23:31:29 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 23:31:29 Worker 0 INFO env.py:780] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)
+[05/10 23:31:29 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 23:31:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 66.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:31:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 83.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:31:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -42.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:31:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.07190192  0.93407676  0.03264666] yaw=-139.2deg
+[05/10 23:31:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 23:31:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -64.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:31:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.8479343   0.52194309  0.03264666] yaw=-188.2deg
+[05/10 23:31:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 23:31:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.89833318  0.61992776  0.03264666] yaw=-169.8deg
+[05/10 23:31:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 23:31:29 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 23:31:29 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=14.2ms, retries=192.9ms, total=207.2ms
+[05/10 23:31:29 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.072, 0.934, 0.033)
+[05/10 23:31:29 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -139.2 deg
+[05/10 23:31:29 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.776m
+[05/10 23:31:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:31:29 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:31:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:31:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:31:29 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 23:31:29 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 0/18 collected=0/3
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+[05/10 23:31:56 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 27.424s
+[05/10 23:31:56 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 23:31:56 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 23:31:57 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.051s, found 88 non-colliding grasps
+[05/10 23:31:57 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.524s, found feasible grasp: True
+[05/10 23:31:57 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.391[m] 97.645[deg]
+[05/10 23:31:57 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 23:31:58 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 23:31:58 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 23:32:39 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 23:32:50 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 23:32:55 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 23:34:45 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True
+/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/subprocess.py:1885: RuntimeWarning: os.fork() was called. os.fork() is incompatible with multithreaded code, and JAX is multithreaded, so this will likely lead to a deadlock.
+  self.pid = _fork_exec(
+[05/10 23:35:05 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_011
+[05/10 23:35:05 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_011 batch 2/4: 1 episodes
+[05/10 23:35:05 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 23:35:20 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+DEBUG:h5py._conv:Creating converter from 5 to 3
+[05/10 23:35:20 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011
+[05/10 23:35:20 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_011 in 14.11s (batch: 4.81s, save: 9.29s)
+[05/10 23:35:21 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 0 house 1 success=True episode_total=3.44s:
+  episode_total: mean=234.93s, total=234.93s, count=1, min=234931.6ms, max=234931.6ms
+  sensor_polling: mean=518.8ms, total=155.64s, count=300, min=440.0ms, max=957.5ms
+  save_trajectories: mean=9.29s, total=9.29s, count=1, min=9292.7ms, max=9292.7ms
+  physics_step: mean=26.1ms, total=7.84s, count=300, min=16.6ms, max=122.0ms
+  save_batch_prep: mean=4.81s, total=4.81s, count=1, min=4812.4ms, max=4812.4ms
+  task_sampling: mean=3.44s, total=3.44s, count=1, min=3442.1ms, max=3442.1ms
+  scene_load: mean=2.96s, total=2.96s, count=1, min=2961.0ms, max=2961.0ms
+  scene_env_create: mean=2.11s, total=2.11s, count=1, min=2108.6ms, max=2108.6ms
+  scene_compile: mean=735.5ms, total=735.5ms, count=1, min=735.5ms, max=735.5ms
+  compile_mujoco: mean=528.9ms, total=528.9ms, count=1, min=528.9ms, max=528.9ms
+  task_specific_sample: mean=478.2ms, total=478.2ms, count=1, min=478.2ms, max=478.2ms
+  compile_xml_load: mean=146.3ms, total=146.3ms, count=1, min=146.3ms, max=146.3ms
+  scene_init: mean=68.8ms, total=68.8ms, count=1, min=68.8ms, max=68.8ms
+  scene_asset_install: mean=47.8ms, total=47.8ms, count=1, min=47.8ms, max=47.8ms
+  compile_aux_objects: mean=45.4ms, total=45.4ms, count=1, min=45.4ms, max=45.4ms
+  compile_aux_policy_objects: mean=45.4ms, total=45.4ms, count=1, min=45.4ms, max=45.4ms
+  asset_install_grasps: mean=32.1ms, total=32.1ms, count=1, min=32.1ms, max=32.1ms
+  asset_install_objects: mean=12.9ms, total=12.9ms, count=1, min=12.9ms, max=12.9ms
+  compile_robot_add: mean=6.7ms, total=6.7ms, count=1, min=6.7ms, max=6.7ms
+  asset_install_scene: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  scene_randomize: mean=1.3ms, total=1.3ms, count=1, min=1.3ms, max=1.3ms
+  mj_forward_sync: mean=455.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=30.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 23:35:22 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 23:35:22 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 23:35:22 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 23:35:22 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:35:22 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:35:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:35:23 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:35:23 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 23:35:23 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 23:35:23 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 23:35:23 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.073m, effective arm-mount z=0.933m (base_body_z=0.073m, pedestal_h=0.860m)
+[05/10 23:35:23 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 23:35:23 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 23:35:23 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.073252m
+[05/10 23:35:23 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 23:35:23 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 23:35:23 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 23:35:23 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.82891724  0.27872446  0.07325219] yaw=169.2deg
+[05/10 23:35:23 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 23:35:23 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.17093827  1.1277145   0.07325219] yaw=-128.0deg
+[05/10 23:35:23 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 23:35:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -67.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:35:23 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.85072032  0.07397582  0.07325219] yaw=155.0deg
+[05/10 23:35:23 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 23:35:23 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 23:35:23 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=131.3ms, total=131.4ms
+[05/10 23:35:23 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.829, 0.279, 0.073)
+[05/10 23:35:23 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 169.2 deg
+[05/10 23:35:23 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.897m
+[05/10 23:35:23 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:35:23 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:35:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:35:23 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:35:23 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 23:35:23 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 1/18 collected=0/3
+[05/10 23:35:23 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.135s
+[05/10 23:35:23 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 23:35:23 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 23:35:23 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps
+[05/10 23:35:24 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.745s, found feasible grasp: True
+[05/10 23:35:24 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.425[m] 86.624[deg]
+[05/10 23:35:24 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 23:35:24 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 23:35:24 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 23:36:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 23:36:22 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 23:36:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 23:37:40 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 23:37:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 23:37:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 23:37:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 23:37:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 23:37:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 23:37:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 23:37:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 23:37:51 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 23:37:51 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 23:37:51 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 23:37:51 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 23:37:51 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.054s, found 78 non-colliding grasps
+[05/10 23:37:52 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.357s, found feasible grasp: True
+[05/10 23:37:52 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.906[deg]
+[05/10 23:37:53 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 23:37:53 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 23:37:53 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 23:37:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 23:37:58 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 23:38:00 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 23:38:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 23:38:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 23:38:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 23:38:07 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 23:38:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 23:38:09 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 23:38:09 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3
+[05/10 23:38:09 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 23:38:09 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 23:38:09 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.049s, found 80 non-colliding grasps
+[05/10 23:38:09 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.346s, found feasible grasp: True
+[05/10 23:38:09 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.049[m] 0.831[deg]
+[05/10 23:38:10 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 23:38:11 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 23:38:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 23:38:12 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 23:38:14 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 23:38:15 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 23:38:17 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 23:38:18 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 23:38:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 23:38:21 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 23:38:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 23:38:23 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 23:38:23 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 3/3
+[05/10 23:38:23 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 23:38:23 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 23:38:23 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.061s, found 80 non-colliding grasps
+[05/10 23:38:23 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.409s, found feasible grasp: True
+[05/10 23:38:23 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.049[m] 0.831[deg]
+[05/10 23:38:24 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 23:38:25 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 23:38:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 23:38:27 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 23:38:28 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 23:38:30 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 23:38:32 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 23:38:34 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 23:38:36 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 23:38:38 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 23:38:40 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 23:38:40 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 23:38:40 Worker 0 INFO base_object_manipulation_planner_policy.py:462] ❌ Max retries (3) exceeded. Task failed.
+[05/10 23:38:40 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True
+[05/10 23:39:03 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_011
+[05/10 23:39:03 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_011 batch 2/4: 1 episodes
+[05/10 23:39:03 Worker 0 INFO save_utils.py:278] Preparing episode data: 267 timesteps
+[05/10 23:39:16 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 23:39:16 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011
+[05/10 23:39:16 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_011 in 13.06s (batch: 4.88s, save: 8.18s)
+[05/10 23:39:16 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 1 house 1 success=True episode_total=0.41s:
+  episode_total: mean=233.77s, total=233.77s, count=1, min=233768.0ms, max=233768.0ms
+  sensor_polling: mean=536.6ms, total=142.73s, count=266, min=448.8ms, max=862.4ms
+  save_trajectories: mean=8.18s, total=8.18s, count=1, min=8180.8ms, max=8180.8ms
+  physics_step: mean=27.5ms, total=7.32s, count=266, min=13.4ms, max=85.1ms
+  save_batch_prep: mean=4.88s, total=4.88s, count=1, min=4877.7ms, max=4877.7ms
+  task_sampling: mean=410.9ms, total=410.9ms, count=1, min=410.9ms, max=410.9ms
+  task_specific_sample: mean=405.5ms, total=405.5ms, count=1, min=405.5ms, max=405.5ms
+  scene_randomize: mean=3.7ms, total=3.7ms, count=1, min=3.7ms, max=3.7ms
+  mj_forward_sync: mean=647.6us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=21.8us, 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
+[05/10 23:39:18 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 23:39:18 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 23:39:18 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 23:39:18 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:39:18 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:39:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:39:18 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:39:18 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 23:39:18 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 23:39:18 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 23:39:18 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.027m, effective arm-mount z=0.887m (base_body_z=0.027m, pedestal_h=0.860m)
+[05/10 23:39:18 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 23:39:18 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 23:39:18 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.026932m
+[05/10 23:39:18 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 23:39:18 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 23:39:18 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 23:39:18 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.84625756  0.72517209  0.0269322 ] yaw=-166.6deg
+[05/10 23:39:18 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 23:39:18 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 74.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:39:18 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.97754636  0.86806907  0.0269322 ] yaw=-148.1deg
+[05/10 23:39:18 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 23:39:18 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 95.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:39:18 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 112.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:39:18 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.68711942  0.13666497  0.0269322 ] yaw=168.9deg
+[05/10 23:39:18 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 23:39:18 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 23:39:18 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=150.0ms, total=150.0ms
+[05/10 23:39:18 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.846, 0.725, 0.027)
+[05/10 23:39:18 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -166.6 deg
+[05/10 23:39:18 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.890m
+[05/10 23:39:18 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:39:18 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:39:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:39:18 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:39:18 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 23:39:18 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 2/18 collected=0/3
+[05/10 23:39:19 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.078s
+[05/10 23:39:19 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 23:39:19 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 23:39:19 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
+[05/10 23:39:19 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.647s, found feasible grasp: True
+[05/10 23:39:19 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.440[m] 90.739[deg]
+[05/10 23:39:19 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 23:39:20 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 23:39:20 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 23:40:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 23:40:19 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 23:40:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 23:42:06 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True
+[05/10 23:42:30 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_011
+[05/10 23:42:30 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_011 batch 2/4: 1 episodes
+[05/10 23:42:30 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 23:42:46 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 23:42:46 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011
+[05/10 23:42:46 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_011 in 15.59s (batch: 5.06s, save: 10.53s)
+[05/10 23:42:47 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 2 house 1 success=True episode_total=0.44s:
+  episode_total: mean=208.61s, total=208.61s, count=1, min=208606.1ms, max=208606.1ms
+  sensor_polling: mean=517.1ms, total=155.12s, count=300, min=450.4ms, max=682.8ms
+  save_trajectories: mean=10.53s, total=10.53s, count=1, min=10534.0ms, max=10534.0ms
+  physics_step: mean=25.5ms, total=7.65s, count=300, min=14.3ms, max=64.9ms
+  save_batch_prep: mean=5.06s, total=5.06s, count=1, min=5055.7ms, max=5055.7ms
+  task_sampling: mean=436.0ms, total=436.0ms, count=1, min=436.0ms, max=436.0ms
+  task_specific_sample: mean=432.3ms, total=432.3ms, count=1, min=432.3ms, max=432.3ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=421.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=22.4us, 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
+[05/10 23:42:48 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 23:42:48 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 23:42:48 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 23:42:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:42:48 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:42:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:42:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:42:48 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 23:42:48 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 23:42:48 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 23:42:48 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.012m, effective arm-mount z=0.872m (base_body_z=0.012m, pedestal_h=0.860m)
+[05/10 23:42:48 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 23:42:48 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 23:42:48 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.012296m
+[05/10 23:42:48 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 23:42:48 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 23:42:48 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 23:42:48 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -77.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:42:49 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -59.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:42:49 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.75378486  0.95268542  0.01229588] yaw=-159.4deg
+[05/10 23:42:49 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 23:42:49 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.83741553  1.05889708  0.01229588] yaw=-137.0deg
+[05/10 23:42:49 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 23:42:49 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 164.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:42:49 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.97982255  0.79855107  0.01229588] yaw=-148.5deg
+[05/10 23:42:49 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 23:42:49 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 23:42:49 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=268.3ms, total=268.3ms
+[05/10 23:42:49 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.754, 0.953, 0.012)
+[05/10 23:42:49 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -159.4 deg
+[05/10 23:42:49 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.059m
+[05/10 23:42:49 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:42:49 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:42:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:42:49 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:42:49 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 23:42:49 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 3/18 collected=0/3
+[05/10 23:42:49 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.089s
+[05/10 23:42:49 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 23:42:49 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 23:42:49 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps
+[05/10 23:42:51 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.806s, found feasible grasp: True
+[05/10 23:42:51 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.654[m] 91.697[deg]
+[05/10 23:42:51 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 23:42:52 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 23:42:52 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 23:44:03 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 23:44:12 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 23:44:17 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 23:45:35 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True
+[05/10 23:46:01 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_011
+[05/10 23:46:01 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_011 batch 2/4: 1 episodes
+[05/10 23:46:01 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 23:46:17 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 23:46:17 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011
+[05/10 23:46:17 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_011 in 16.13s (batch: 4.37s, save: 11.76s)
+[05/10 23:46:17 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 3 house 1 success=True episode_total=0.56s:
+  episode_total: mean=209.05s, total=209.05s, count=1, min=209053.7ms, max=209053.7ms
+  sensor_polling: mean=509.4ms, total=152.82s, count=300, min=447.0ms, max=686.1ms
+  save_trajectories: mean=11.76s, total=11.76s, count=1, min=11759.8ms, max=11759.8ms
+  physics_step: mean=24.6ms, total=7.38s, count=300, min=18.5ms, max=61.6ms
+  save_batch_prep: mean=4.37s, total=4.37s, count=1, min=4373.2ms, max=4373.2ms
+  task_sampling: mean=555.5ms, total=555.5ms, count=1, min=555.5ms, max=555.5ms
+  task_specific_sample: mean=551.6ms, total=551.6ms, count=1, min=551.6ms, max=551.6ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=420.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  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
+[05/10 23:46:19 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 23:46:19 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 23:46:19 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 23:46:19 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:46:19 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:46:19 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:46:19 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:46:19 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 23:46:19 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 23:46:19 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 23:46:19 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.011m, effective arm-mount z=0.871m (base_body_z=0.011m, pedestal_h=0.860m)
+[05/10 23:46:19 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 23:46:19 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 23:46:19 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.010541m
+[05/10 23:46:19 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 23:46:19 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 23:46:19 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 23:46:20 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 54.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:46:20 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.81118134  0.93145618  0.01054105] yaw=-159.9deg
+[05/10 23:46:20 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 23:46:20 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.85850979  0.6086276   0.01054105] yaw=-172.5deg
+[05/10 23:46:20 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 23:46:20 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -41.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:46:20 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.84948499  0.69325964  0.01054105] yaw=-160.7deg
+[05/10 23:46:20 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 23:46:20 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 23:46:20 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=270.5ms, total=270.6ms
+[05/10 23:46:20 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.811, 0.931, 0.011)
+[05/10 23:46:20 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -159.9 deg
+[05/10 23:46:20 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.998m
+[05/10 23:46:20 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:46:20 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:46:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:46:20 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:46:20 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 23:46:20 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 4/18 collected=0/3
+[05/10 23:46:20 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.088s
+[05/10 23:46:20 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 23:46:20 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 23:46:20 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.042s, found 88 non-colliding grasps
+[05/10 23:46:22 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.081s, found feasible grasp: True
+[05/10 23:46:22 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.540[m] 82.874[deg]
+[05/10 23:46:22 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 23:46:23 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 23:46:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 23:47:18 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 23:47:27 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 23:47:32 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 23:49:09 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True
+[05/10 23:49:37 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_011
+[05/10 23:49:37 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_011 batch 2/4: 1 episodes
+[05/10 23:49:37 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 23:49:50 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 23:49:50 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011
+[05/10 23:49:50 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_011 in 13.71s (batch: 4.64s, save: 9.08s)
+[05/10 23:49:51 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 4 house 1 success=True episode_total=0.57s:
+  episode_total: mean=211.71s, total=211.71s, count=1, min=211714.7ms, max=211714.7ms
+  sensor_polling: mean=520.2ms, total=156.06s, count=300, min=446.5ms, max=1200.2ms
+  save_trajectories: mean=9.08s, total=9.08s, count=1, min=9077.7ms, max=9077.7ms
+  physics_step: mean=25.4ms, total=7.61s, count=300, min=18.6ms, max=91.8ms
+  save_batch_prep: mean=4.64s, total=4.64s, count=1, min=4636.3ms, max=4636.3ms
+  task_sampling: mean=571.2ms, total=571.2ms, count=1, min=571.2ms, max=571.2ms
+  task_specific_sample: mean=566.1ms, total=566.1ms, count=1, min=566.1ms, max=566.1ms
+  scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
+  mj_forward_sync: mean=549.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=29.9us, 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
+[05/10 23:49:53 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 23:49:53 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 23:49:53 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 23:49:53 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:49:53 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:49:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:49:53 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:49:53 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 23:49:53 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 23:49:53 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 23:49:53 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.093m, effective arm-mount z=0.953m (base_body_z=0.093m, pedestal_h=0.860m)
+[05/10 23:49:53 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 23:49:53 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 23:49:53 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.093162m
+[05/10 23:49:53 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 23:49:53 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 23:49:53 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 23:49:53 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.9490438   0.70646371  0.0931621 ] yaw=-172.6deg
+[05/10 23:49:53 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 23:49:53 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -64.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:49:53 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -175.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:49:53 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 156.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:49:53 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.63823696  0.63422802  0.0931621 ] yaw=-162.7deg
+[05/10 23:49:53 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 23:49:53 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 23:49:53 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=340.5ms, total=340.6ms
+[05/10 23:49:53 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.949, 0.706, 0.093)
+[05/10 23:49:53 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -172.6 deg
+[05/10 23:49:53 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.786m
+[05/10 23:49:53 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:49:53 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:49:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:49:53 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:49:54 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 23:49:54 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 5/18 collected=0/3
+[05/10 23:49:54 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.096s
+[05/10 23:49:54 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 23:49:54 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 23:49:54 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps
+[05/10 23:49:54 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.697s, found feasible grasp: True
+[05/10 23:49:54 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.371[m] 87.614[deg]
+[05/10 23:49:54 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 23:49:55 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 23:49:55 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 23:50:34 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 23:50:43 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 23:50:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 23:52:42 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True
+[05/10 23:53:09 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_011
+[05/10 23:53:09 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_011 batch 2/4: 1 episodes
+[05/10 23:53:09 Worker 0 INFO save_utils.py:278] Preparing episode data: 296 timesteps
+[05/10 23:53:26 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 23:53:26 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011
+[05/10 23:53:26 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_011 in 16.67s (batch: 4.66s, save: 12.01s)
+[05/10 23:53:27 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 5 house 1 success=True episode_total=0.63s:
+  episode_total: mean=213.84s, total=213.84s, count=1, min=213843.8ms, max=213843.8ms
+  sensor_polling: mean=525.7ms, total=155.07s, count=295, min=452.8ms, max=957.7ms
+  save_trajectories: mean=12.01s, total=12.01s, count=1, min=12005.6ms, max=12005.6ms
+  physics_step: mean=26.1ms, total=7.69s, count=295, min=19.7ms, max=85.2ms
+  save_batch_prep: mean=4.66s, total=4.66s, count=1, min=4662.1ms, max=4662.1ms
+  task_sampling: mean=634.3ms, total=634.3ms, count=1, min=634.3ms, max=634.3ms
+  task_specific_sample: mean=629.9ms, total=629.9ms, count=1, min=629.9ms, max=629.9ms
+  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
+  mj_forward_sync: mean=526.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=25.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 23:53:28 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 23:53:28 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 23:53:28 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 23:53:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:53:28 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:53:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:53:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:53:28 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 23:53:28 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 23:53:28 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 23:53:28 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.074m, effective arm-mount z=0.934m (base_body_z=0.074m, pedestal_h=0.860m)
+[05/10 23:53:28 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 23:53:28 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 23:53:28 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.074307m
+[05/10 23:53:28 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 23:53:28 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 23:53:28 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 23:53:28 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -160.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:53:28 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.76163275  0.8277262   0.07430687] yaw=-153.1deg
+[05/10 23:53:28 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 23:53:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.6437277   0.57630709  0.07430687] yaw=-170.2deg
+[05/10 23:53:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 23:53:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 54.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:53:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.73851687  0.58731156  0.07430687] yaw=-178.9deg
+[05/10 23:53:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 23:53:29 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 23:53:29 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=120.9ms, total=120.9ms
+[05/10 23:53:29 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.762, 0.828, 0.074)
+[05/10 23:53:29 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -153.1 deg
+[05/10 23:53:29 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.002m
+[05/10 23:53:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:53:29 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:53:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:53:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:53:29 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 23:53:29 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 6/18 collected=0/3
+[05/10 23:53:29 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.086s
+[05/10 23:53:29 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 23:53:29 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 23:53:29 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps
+[05/10 23:53:30 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.838s, found feasible grasp: True
+[05/10 23:53:30 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.533[m] 76.059[deg]
+[05/10 23:53:30 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 23:53:30 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 23:53:30 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 23:54:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 23:54:36 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 23:54:41 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
diff --git a/fridge_7/chunk_011/shard_3_of_4.log b/fridge_7/chunk_011/shard_3_of_4.log
new file mode 100644
index 0000000000000000000000000000000000000000..6c39821fef1e8f6e30b2301c8ad49854619683f9
--- /dev/null
+++ b/fridge_7/chunk_011/shard_3_of_4.log
@@ -0,0 +1,1086 @@
+==========================================
+Generating data for: fridge -> /scr/ravenh/fridge_7/sim_chunks/chunk_011
+  shard=3/4  seed=21103  samples=3
+  CUDA_VISIBLE_DEVICES=2
+  scene=ithor_minimal_fridge_7  radius=[0.7,1.1]  theta=[-0.5,0.9]
+==========================================
+[nltk_data] Downloading package wordnet to /svl/u/ravenh/nltk_data...
+[nltk_data]   Package wordnet is already up-to-date!
+[nltk_data] Downloading package wordnet2022 to
+[nltk_data]     /svl/u/ravenh/nltk_data...
+[nltk_data]   Package wordnet2022 is already up-to-date!
+/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/evaluation/eval_main.py:127: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610).
+  _assert_data_versions_match()
+INFO:__main__:Overrode 1 camera(s) from scripts/datagen/picked_camera_extrinsics.json (pos_noise=0.05m, rot_noise=5.0deg)
+INFO:__main__:[setup_config] open task detected: defaulted task_sampler_config.placement_robot_height = 1.4m (override with --placement_robot_height)
+INFO:__main__:Mesh stand active: --robot_base_z=0.86m will be realized by offsetting the stand body, not by resizing.
+INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_011
+[05/10 23:31:24 INFO pipeline.py:640] WandB logging disabled (environment variables not set)
+[05/10 23:31:24 INFO pipeline.py:1359] Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes
+[05/10 23:31:24 INFO pipeline.py:1366] Evaluation configuration:
+/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/site-packages/pydantic/main.py:464: UserWarning: Pydantic serializer warnings:
+  PydanticSerializationUnexpectedValue(Expected `list[str]` - serialized value may not be as expected [field_name='receptacle_types', input_value=('ArmChair', 'Bed', 'Chai...fa', 'Stool', 'TVStand'), input_type=tuple])
+  PydanticSerializationUnexpectedValue(Expected `str` - serialized value may not be as expected [field_name='output_dir', input_value=PosixPath('/scr/ravenh/fr...7/sim_chunks/chunk_011'), input_type=PosixPath])
+  return self.__pydantic_serializer__.to_python(
+[05/10 23:31:24 INFO pipeline.py:1367] {'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_7/sim_chunks/chunk_011'),
+ '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 0x753bc767d990>,
+ 'robot_config': {'K_damping': None,
+                  'K_stiffness': None,
+                  '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_7',
+ 'seed': 21103,
+ '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': 0.2,
+                         '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'}
+INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_011
+[05/10 23:31:24 Worker 0 INFO task_sampler.py:317] 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'}}
+[05/10 23:31:24 Worker 0 INFO pipeline.py:437] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler
+[05/10 23:31:24 Worker 0 INFO pipeline.py:464] Worker 0 starting house 1 (index 0/1)
+DEBUG:filelock:Attempting to acquire lock 128899605711952 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Lock 128899605711952 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:molmospaces_resources:Building trie DB for scenes/ithor_minimal_fridge_7 under /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7
+DEBUG:filelock:Attempting to release lock 128899605711952 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Lock 128899605711952 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Attempting to acquire lock 128899607968336 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 128899607968336 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 128899607969744 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 128899607969744 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 128899607969744 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 128899607969744 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 128899607968336 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 128899607968336 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 128899605952592 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 128899605952592 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 128899605950544 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 128899605950544 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:molmospaces_resources:Ensuring 0 grasps archive(s) for droid_objaverse version=20251218
+DEBUG:filelock:Attempting to release lock 128899605950544 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 128899605950544 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 128899605952592 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 128899605952592 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+[05/10 23:31:25 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist
+DEBUG:OpenGL.platform.ctypesloader:Loaded libEGL.so => libEGL.so <CDLL 'libEGL.so', handle 5833bc6aa470 at 0x753bc7bbe8d0>
+DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 5833bc6abf60 at 0x753bc79d2050>
+INFO:OpenGL.acceleratesupport:No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
+DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 5833bc6abf60 at 0x753bc7b59610>
+[05/10 23:31:28 Worker 0 INFO task_sampler.py:797] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml
+[05/10 23:31:28 Worker 0 INFO pick_task_sampler.py:197] Setting up scene for house 1, task None...
+[05/10 23:31:28 Worker 0 INFO pick_task_sampler.py:842] Found 1 candidate pickup objects in the scene
+[05/10 23:31:28 Worker 0 INFO pick_task_sampler.py:926] Filtered to 1 valid candidate pickup objects, 100.0 %
+[05/10 23:31:28 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 23:31:28 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 23:31:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:31:28 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:31:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:31:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:31:28 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 23:31:28 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 23:31:28 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 23:31:28 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.037m, effective arm-mount z=0.897m (base_body_z=0.037m, pedestal_h=0.860m)
+[05/10 23:31:28 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 23:31:28 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 23:31:28 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.036596m
+[05/10 23:31:28 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 23:31:28 Worker 0 INFO env.py:780] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)
+[05/10 23:31:28 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 23:31:28 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 78.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:31:28 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 169.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:31:28 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 78.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:31:28 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 67.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:31:28 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -52.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:31:28 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.8288799   0.76985789  0.0365958 ] yaw=-167.4deg
+[05/10 23:31:28 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 23:31:28 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 23:31:28 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=15.0ms, retries=289.5ms, total=304.5ms
+[05/10 23:31:28 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.829, 0.770, 0.037)
+[05/10 23:31:28 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -167.4 deg
+[05/10 23:31:28 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.920m
+[05/10 23:31:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:31:28 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:31:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:31:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:31:28 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 23:31:28 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 0/18 collected=0/3
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+[05/10 23:31:55 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 27.265s
+[05/10 23:31:55 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 23:31:55 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 23:31:56 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
+[05/10 23:31:56 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.563s, found feasible grasp: True
+[05/10 23:31:56 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.478[m] 87.631[deg]
+[05/10 23:31:56 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 23:31:57 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 23:31:57 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 23:32:49 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 23:32:59 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 23:33:04 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 23:34:48 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True
+/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/subprocess.py:1885: RuntimeWarning: os.fork() was called. os.fork() is incompatible with multithreaded code, and JAX is multithreaded, so this will likely lead to a deadlock.
+  self.pid = _fork_exec(
+[05/10 23:35:09 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_011
+[05/10 23:35:09 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_011 batch 3/4: 1 episodes
+[05/10 23:35:09 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 23:35:24 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+DEBUG:h5py._conv:Creating converter from 5 to 3
+[05/10 23:35:24 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011
+[05/10 23:35:24 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_011 in 15.10s (batch: 4.32s, save: 10.78s)
+[05/10 23:35:25 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 0 house 1 success=True episode_total=3.72s:
+  episode_total: mean=240.32s, total=240.32s, count=1, min=240316.5ms, max=240316.5ms
+  sensor_polling: mean=533.8ms, total=160.14s, count=300, min=450.4ms, max=917.9ms
+  save_trajectories: mean=10.78s, total=10.78s, count=1, min=10779.4ms, max=10779.4ms
+  physics_step: mean=25.8ms, total=7.73s, count=300, min=17.2ms, max=89.3ms
+  save_batch_prep: mean=4.32s, total=4.32s, count=1, min=4321.0ms, max=4321.0ms
+  task_sampling: mean=3.72s, total=3.72s, count=1, min=3717.8ms, max=3717.8ms
+  scene_load: mean=3.11s, total=3.11s, count=1, min=3106.8ms, max=3106.8ms
+  scene_env_create: mean=1.87s, total=1.87s, count=1, min=1865.8ms, max=1865.8ms
+  scene_compile: mean=1.11s, total=1.11s, count=1, min=1109.2ms, max=1109.2ms
+  task_specific_sample: mean=607.0ms, total=607.0ms, count=1, min=607.0ms, max=607.0ms
+  compile_mujoco: mean=600.1ms, total=600.1ms, count=1, min=600.1ms, max=600.1ms
+  compile_xml_load: mean=433.7ms, total=433.7ms, count=1, min=433.7ms, max=433.7ms
+  scene_init: mean=74.5ms, total=74.5ms, count=1, min=74.5ms, max=74.5ms
+  scene_asset_install: mean=57.0ms, total=57.0ms, count=1, min=57.0ms, max=57.0ms
+  compile_aux_objects: mean=45.4ms, total=45.4ms, count=1, min=45.4ms, max=45.4ms
+  compile_aux_policy_objects: mean=45.4ms, total=45.4ms, count=1, min=45.4ms, max=45.4ms
+  asset_install_grasps: mean=41.7ms, total=41.7ms, count=1, min=41.7ms, max=41.7ms
+  compile_robot_add: mean=20.9ms, total=20.9ms, count=1, min=20.9ms, max=20.9ms
+  asset_install_objects: mean=11.3ms, total=11.3ms, count=1, min=11.3ms, max=11.3ms
+  asset_install_scene: mean=4.0ms, total=4.0ms, count=1, min=4.0ms, max=4.0ms
+  scene_randomize: mean=1.2ms, total=1.2ms, count=1, min=1.2ms, max=1.2ms
+  mj_forward_sync: mean=450.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=40.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 23:35:26 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 23:35:26 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 23:35:26 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 23:35:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:35:26 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:35:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:35:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:35:26 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 23:35:26 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 23:35:26 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 23:35:26 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.077m, effective arm-mount z=0.937m (base_body_z=0.077m, pedestal_h=0.860m)
+[05/10 23:35:26 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 23:35:26 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 23:35:26 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.076543m
+[05/10 23:35:26 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 23:35:26 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 23:35:26 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 23:35:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -79.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:35:27 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.81464118  0.36541012  0.07654343] yaw=163.2deg
+[05/10 23:35:27 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 23:35:27 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -66.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:35:27 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -33.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:35:27 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 70.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:35:27 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.02696849  0.14820071  0.07654343] yaw=146.4deg
+[05/10 23:35:27 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 23:35:27 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.8984851   0.40177972  0.07654343] yaw=167.8deg
+[05/10 23:35:27 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 23:35:27 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 23:35:27 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=262.3ms, total=262.4ms
+[05/10 23:35:27 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.815, 0.365, 0.077)
+[05/10 23:35:27 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 163.2 deg
+[05/10 23:35:27 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.895m
+[05/10 23:35:27 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:35:27 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:35:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:35:27 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:35:27 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 23:35:27 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 1/18 collected=0/3
+[05/10 23:35:27 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.080s
+[05/10 23:35:27 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 23:35:27 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 23:35:27 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.063s, found 88 non-colliding grasps
+[05/10 23:35:28 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.535s, found feasible grasp: True
+[05/10 23:35:28 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.442[m] 88.595[deg]
+[05/10 23:35:28 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 23:35:28 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 23:35:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 23:36:17 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 23:36:30 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 23:36:34 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 23:38:05 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 23:38:07 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 23:38:08 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 23:38:10 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 23:38:11 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 23:38:13 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 23:38:15 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 23:38:16 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 23:38:16 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 23:38:16 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 23:38:16 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 23:38:16 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 23:38:16 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.052s, found 80 non-colliding grasps
+[05/10 23:38:20 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 4.015s, found feasible grasp: True
+[05/10 23:38:20 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 102 (originally 102): w/ 0.100[m] 0.705[deg]
+[05/10 23:38:21 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 1 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 23:38:24 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 23:38:24 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 23:38:24 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 23:38:24 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:38:24 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:38:24 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:38:24 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:38:24 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 23:38:24 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 23:38:24 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 23:38:24 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.056m, effective arm-mount z=0.916m (base_body_z=0.056m, pedestal_h=0.860m)
+[05/10 23:38:24 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 23:38:24 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 23:38:24 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.055981m
+[05/10 23:38:24 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 23:38:24 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 23:38:24 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 23:38:24 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 125.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:38:24 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 117.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:38:24 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -54.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:38:24 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.861075    1.17952271  0.05598067] yaw=-147.4deg
+[05/10 23:38:24 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 23:38:24 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 109.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:38:24 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.6588297   0.48237374  0.05598067] yaw=-178.6deg
+[05/10 23:38:24 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 23:38:24 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.81977159  0.64246729  0.05598067] yaw=-162.7deg
+[05/10 23:38:24 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 23:38:24 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 23:38:24 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=305.9ms, total=306.0ms
+[05/10 23:38:24 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.861, 1.180, 0.056)
+[05/10 23:38:24 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -147.4 deg
+[05/10 23:38:24 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.093m
+[05/10 23:38:24 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:38:24 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:38:24 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:38:24 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:38:24 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 23:38:24 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 2/18 collected=0/3
+[05/10 23:38:24 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.049s
+[05/10 23:38:24 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 23:38:24 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 23:38:24 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
+[05/10 23:38:26 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.610s, found feasible grasp: False
+[05/10 23:38:26 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 2 rollout error: No feasible grasp found
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
+    observation, _info = task.reset()  # don't update env after reset!
+                         ^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
+    self._registered_policy.reset()
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 80, in _compute_target_poses
+    grasp_pose_world = compute_grasp_pose(
+                       ^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/utils/grasp_sample.py", line 536, in compute_grasp_pose
+    raise ValueError("No feasible grasp found")
+ValueError: No feasible grasp found
+[05/10 23:38:28 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 23:38:28 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 23:38:28 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 23:38:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:38:28 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:38:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:38:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:38:28 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 23:38:28 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 23:38:28 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 23:38:28 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.044m, effective arm-mount z=0.904m (base_body_z=0.044m, pedestal_h=0.860m)
+[05/10 23:38:28 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 23:38:28 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 23:38:28 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.043829m
+[05/10 23:38:28 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 23:38:28 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 23:38:28 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 23:38:28 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.21353998  1.05882707  0.04382903] yaw=-128.6deg
+[05/10 23:38:28 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 23:38:28 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -65.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:38:28 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.86171715  0.6984774   0.04382903] yaw=-164.3deg
+[05/10 23:38:28 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 23:38:28 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.90236657  0.59267187  0.04382903] yaw=-161.7deg
+[05/10 23:38:28 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 23:38:28 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 23:38:28 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=111.4ms, total=111.5ms
+[05/10 23:38:28 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.214, 1.059, 0.044)
+[05/10 23:38:28 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -128.6 deg
+[05/10 23:38:28 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.756m
+[05/10 23:38:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:38:28 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:38:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:38:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:38:28 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 23:38:28 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 3/18 collected=0/3
+[05/10 23:38:28 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.051s
+[05/10 23:38:28 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 23:38:28 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 23:38:28 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
+[05/10 23:38:29 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.758s, found feasible grasp: True
+[05/10 23:38:29 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.387[m] 99.554[deg]
+[05/10 23:38:29 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 23:38:29 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 23:38:29 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 23:39:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 23:39:21 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 23:39:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 23:40:49 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 23:40:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 23:40:53 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 23:40:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 23:40:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 23:40:57 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 23:40:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 23:41:00 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 23:41:00 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 23:41:00 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 23:41:00 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 23:41:00 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 23:41:01 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.052s, found 76 non-colliding grasps
+[05/10 23:41:02 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.500s, found feasible grasp: True
+[05/10 23:41:02 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.298[deg]
+[05/10 23:41:04 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 3 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 23:41:05 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 23:41:05 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 23:41:05 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 23:41:05 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:41:05 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:41:05 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:41:05 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:41:05 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 23:41:05 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 23:41:05 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 23:41:05 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.069m, effective arm-mount z=0.929m (base_body_z=0.069m, pedestal_h=0.860m)
+[05/10 23:41:05 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 23:41:05 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 23:41:05 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.068799m
+[05/10 23:41:05 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 23:41:05 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 23:41:05 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 23:41:05 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 57.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:41:05 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.88265952  0.68215027  0.06879932] yaw=-174.2deg
+[05/10 23:41:05 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 23:41:06 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.95127832  0.42510983  0.06879932] yaw=170.3deg
+[05/10 23:41:06 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 23:41:06 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.69908506  0.30720058  0.06879932] yaw=159.5deg
+[05/10 23:41:06 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 23:41:06 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 23:41:06 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=84.0ms, total=84.1ms
+[05/10 23:41:06 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.883, 0.682, 0.069)
+[05/10 23:41:06 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -174.2 deg
+[05/10 23:41:06 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.844m
+[05/10 23:41:06 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:41:06 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:41:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:41:06 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:41:06 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 23:41:06 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 4/18 collected=0/3
+[05/10 23:41:06 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.046s
+[05/10 23:41:06 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 23:41:06 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 23:41:06 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps
+[05/10 23:41:06 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.567s, found feasible grasp: True
+[05/10 23:41:06 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.398[m] 81.834[deg]
+[05/10 23:41:06 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 23:41:07 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 23:41:07 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 23:41:46 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 23:41:58 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 23:42:03 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 23:43:55 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True
+[05/10 23:44:17 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_011
+[05/10 23:44:17 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_011 batch 3/4: 1 episodes
+[05/10 23:44:17 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 23:44:29 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 23:44:29 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011
+[05/10 23:44:29 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_011 in 12.58s (batch: 4.07s, save: 8.52s)
+[05/10 23:44:30 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 4 house 1 success=True episode_total=1.92s:
+  episode_total: mean=134.37s, total=537.49s, count=4, min=2319.5ms, max=204250.9ms
+  sensor_polling: mean=521.1ms, total=421.58s, count=809, min=437.4ms, max=883.9ms
+  physics_step: mean=26.4ms, total=21.37s, count=809, min=15.6ms, max=85.3ms
+  save_trajectories: mean=8.52s, total=8.52s, count=1, min=8515.1ms, max=8515.1ms
+  save_batch_prep: mean=4.07s, total=4.07s, count=1, min=4068.4ms, max=4068.4ms
+  task_sampling: mean=479.7ms, total=1.92s, count=4, min=367.7ms, max=608.4ms
+  task_specific_sample: mean=476.3ms, total=1.91s, count=4, min=364.5ms, max=605.1ms
+  scene_randomize: mean=1.7ms, total=6.8ms, count=4, min=1.2ms, max=2.6ms
+  mj_forward_sync: mean=476.4us, total=1.9ms, count=4, min=0.4ms, max=0.6ms
+  policy_setup: mean=20.9us, total=0.1ms, count=4, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms
+[05/10 23:44:31 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 23:44:31 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 23:44:31 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 23:44:31 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:44:31 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:44:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:44:31 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:44:31 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 23:44:31 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 23:44:31 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 23:44:31 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.093m, effective arm-mount z=0.953m (base_body_z=0.093m, pedestal_h=0.860m)
+[05/10 23:44:31 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 23:44:31 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 23:44:31 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.093443m
+[05/10 23:44:31 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 23:44:31 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 23:44:31 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 23:44:31 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.8598333   0.1418342   0.09344301] yaw=155.0deg
+[05/10 23:44:31 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 23:44:31 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -77.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:44:31 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.70357563  0.11317789  0.09344301] yaw=157.4deg
+[05/10 23:44:31 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 23:44:31 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -158.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:44:31 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.07680101  1.19486347  0.09344301] yaw=-129.5deg
+[05/10 23:44:31 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 23:44:31 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 23:44:31 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=104.3ms, total=104.3ms
+[05/10 23:44:31 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.860, 0.142, 0.093)
+[05/10 23:44:31 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 155.0 deg
+[05/10 23:44:31 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.909m
+[05/10 23:44:31 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:44:31 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:44:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:44:31 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:44:32 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 23:44:32 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 5/18 collected=0/3
+[05/10 23:44:32 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.082s
+[05/10 23:44:32 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 23:44:32 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 23:44:32 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps
+[05/10 23:44:32 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.553s, found feasible grasp: True
+[05/10 23:44:32 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.443[m] 83.298[deg]
+[05/10 23:44:33 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 23:44:33 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 23:44:33 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 23:45:22 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 23:45:32 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 23:45:37 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 23:46:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 23:46:49 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 23:46:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 23:46:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 23:46:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 23:46:55 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 23:46:57 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 23:46:58 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 23:46:58 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 23:46:58 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 23:46:58 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 23:46:58 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 23:46:58 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.054s, found 78 non-colliding grasps
+[05/10 23:46:59 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.391s, found feasible grasp: True
+[05/10 23:46:59 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.642[deg]
+[05/10 23:47:00 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 23:47:02 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 23:47:02 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 23:47:02 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 23:47:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:47:02 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:47:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:47:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:47:02 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 23:47:02 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 23:47:02 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 23:47:02 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.043m, effective arm-mount z=0.903m (base_body_z=0.043m, pedestal_h=0.860m)
+[05/10 23:47:02 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 23:47:02 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 23:47:02 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.043145m
+[05/10 23:47:02 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 23:47:02 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 23:47:02 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 23:47:02 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.05526371  1.15538345  0.04314499] yaw=-124.8deg
+[05/10 23:47:02 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 23:47:02 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 123.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:47:02 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -41.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:47:02 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 110.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:47:02 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.97408154  1.1266294   0.04314499] yaw=-131.7deg
+[05/10 23:47:02 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 23:47:02 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.69478008  0.21991939  0.04314499] yaw=156.3deg
+[05/10 23:47:02 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 23:47:02 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 23:47:02 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=179.7ms, total=179.7ms
+[05/10 23:47:02 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.055, 1.155, 0.043)
+[05/10 23:47:02 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -124.8 deg
+[05/10 23:47:02 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.934m
+[05/10 23:47:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:47:02 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:47:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:47:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:47:02 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 23:47:02 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 6/18 collected=0/3
+[05/10 23:47:02 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.052s
+[05/10 23:47:02 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 23:47:02 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 23:47:02 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps
+[05/10 23:47:05 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.656s, found feasible grasp: True
+[05/10 23:47:05 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 203 (originally 88): w/ 0.539[m] 81.900[deg]
+[05/10 23:47:06 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
+    observation, _info = task.reset()  # don't update env after reset!
+                         ^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
+    self._registered_policy.reset()
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 23:47:08 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 23:47:08 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 23:47:08 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 23:47:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:47:08 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:47:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:47:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:47:08 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 23:47:08 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 23:47:08 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 23:47:08 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.043m, effective arm-mount z=0.903m (base_body_z=0.043m, pedestal_h=0.860m)
+[05/10 23:47:08 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 23:47:08 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 23:47:08 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.042869m
+[05/10 23:47:08 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 23:47:08 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 23:47:08 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 23:47:08 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -65.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:47:08 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.1315205   1.20036769  0.04286898] yaw=-132.8deg
+[05/10 23:47:08 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 23:47:08 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.79346096  0.09589438  0.04286898] yaw=160.3deg
+[05/10 23:47:08 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 23:47:08 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 124.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:47:08 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 93.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:47:08 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.62357485  0.48062353  0.04286898] yaw=179.2deg
+[05/10 23:47:08 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 23:47:08 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 23:47:08 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=172.7ms, total=172.8ms
+[05/10 23:47:08 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.132, 1.200, 0.043)
+[05/10 23:47:08 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -132.8 deg
+[05/10 23:47:08 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.918m
+[05/10 23:47:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:47:08 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:47:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:47:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:47:08 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 23:47:08 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 7/18 collected=0/3
+[05/10 23:47:08 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.060s
+[05/10 23:47:08 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 23:47:08 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 23:47:08 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps
+[05/10 23:47:12 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 3.795s, found feasible grasp: True
+[05/10 23:47:12 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.504[m] 84.813[deg]
+[05/10 23:47:13 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
+    observation, _info = task.reset()  # don't update env after reset!
+                         ^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
+    self._registered_policy.reset()
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 23:47:15 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 23:47:15 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 23:47:15 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 23:47:15 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:47:15 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:47:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:47:15 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:47:15 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 23:47:15 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 23:47:15 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 23:47:15 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.063m, effective arm-mount z=0.923m (base_body_z=0.063m, pedestal_h=0.860m)
+[05/10 23:47:15 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 23:47:15 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 23:47:15 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.063374m
+[05/10 23:47:15 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 23:47:15 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 23:47:15 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 23:47:15 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -30.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:47:15 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.8591719   0.44542569  0.06337356] yaw=176.9deg
+[05/10 23:47:15 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 23:47:15 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.77747043  0.25586804  0.06337356] yaw=154.8deg
+[05/10 23:47:15 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 23:47:15 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.916519    0.15386701  0.06337356] yaw=159.4deg
+[05/10 23:47:15 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 23:47:15 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 23:47:15 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=146.6ms, total=146.6ms
+[05/10 23:47:15 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.859, 0.445, 0.063)
+[05/10 23:47:15 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 176.9 deg
+[05/10 23:47:15 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.844m
+[05/10 23:47:15 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:47:15 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:47:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:47:15 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:47:15 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 23:47:15 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 8/18 collected=0/3
+[05/10 23:47:15 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.061s
+[05/10 23:47:15 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 23:47:15 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 23:47:15 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
+[05/10 23:47:16 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.433s, found feasible grasp: True
+[05/10 23:47:16 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.375[m] 88.830[deg]
+[05/10 23:47:16 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 23:47:16 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 23:47:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 23:47:55 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 23:48:05 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 23:48:10 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 23:50:08 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True
+[05/10 23:50:29 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_011
+[05/10 23:50:29 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_011 batch 3/4: 1 episodes
+[05/10 23:50:29 Worker 0 INFO save_utils.py:278] Preparing episode data: 297 timesteps
+[05/10 23:50:43 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 23:50:43 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011
+[05/10 23:50:43 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_011 in 13.18s (batch: 4.29s, save: 8.89s)
+[05/10 23:50:43 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 8 house 1 success=True episode_total=1.75s:
+  episode_total: mean=91.69s, total=366.76s, count=4, min=4290.6ms, max=208181.7ms
+  sensor_polling: mean=536.1ms, total=283.61s, count=529, min=450.5ms, max=1092.9ms
+  physics_step: mean=28.8ms, total=15.24s, count=529, min=16.1ms, max=127.9ms
+  save_trajectories: mean=8.89s, total=8.89s, count=1, min=8890.9ms, max=8890.9ms
+  save_batch_prep: mean=4.29s, total=4.29s, count=1, min=4293.8ms, max=4293.8ms
+  task_sampling: mean=437.9ms, total=1.75s, count=4, min=386.3ms, max=504.7ms
+  task_specific_sample: mean=434.6ms, total=1.74s, count=4, min=382.7ms, max=500.8ms
+  scene_randomize: mean=1.6ms, total=6.5ms, count=4, min=1.4ms, max=2.3ms
+  mj_forward_sync: mean=434.5us, total=1.7ms, count=4, min=0.4ms, max=0.5ms
+  policy_setup: mean=23.7us, total=0.1ms, count=4, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms
+[05/10 23:50:45 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 23:50:45 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 23:50:45 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 23:50:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:50:45 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:50:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:50:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:50:45 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 23:50:45 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 23:50:45 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 23:50:45 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.001m, effective arm-mount z=0.861m (base_body_z=0.001m, pedestal_h=0.860m)
+[05/10 23:50:45 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 23:50:45 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 23:50:45 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.001129m
+[05/10 23:50:45 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 23:50:45 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 23:50:45 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 23:50:45 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.93477437  0.68839188  0.00112875] yaw=-169.9deg
+[05/10 23:50:45 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 23:50:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 86.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:50:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 54.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:50:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 54.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:50:45 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.81840535  0.1328861   0.00112875] yaw=152.1deg
+[05/10 23:50:45 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 23:50:45 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.92001577  0.49534052  0.00112875] yaw=-183.1deg
+[05/10 23:50:45 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 23:50:45 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 23:50:45 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=185.2ms, total=185.3ms
+[05/10 23:50:45 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.935, 0.688, 0.001)
+[05/10 23:50:45 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -169.9 deg
+[05/10 23:50:45 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.795m
+[05/10 23:50:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:50:45 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:50:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:50:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:50:45 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 23:50:45 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 9/18 collected=0/3
+[05/10 23:50:45 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.086s
+[05/10 23:50:45 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 23:50:45 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 23:50:45 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps
+[05/10 23:50:46 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.563s, found feasible grasp: True
+[05/10 23:50:46 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.311[m] 82.200[deg]
+[05/10 23:50:46 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 23:50:47 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 23:50:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 23:51:18 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 23:51:29 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 23:51:34 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 23:53:31 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True
+[05/10 23:53:51 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_011
+[05/10 23:53:51 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_011 batch 3/4: 1 episodes
+[05/10 23:53:51 Worker 0 INFO save_utils.py:278] Preparing episode data: 283 timesteps
+[05/10 23:54:03 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 23:54:03 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011
+[05/10 23:54:03 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_011 in 12.02s (batch: 3.99s, save: 8.03s)
+[05/10 23:54:03 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 9 house 1 success=True episode_total=0.50s:
+  episode_total: mean=198.61s, total=198.61s, count=1, min=198612.7ms, max=198612.7ms
+  sensor_polling: mean=544.0ms, total=153.40s, count=282, min=454.3ms, max=1166.6ms
+  physics_step: mean=28.7ms, total=8.09s, count=282, min=16.1ms, max=103.5ms
+  save_trajectories: mean=8.03s, total=8.03s, count=1, min=8029.7ms, max=8029.7ms
+  save_batch_prep: mean=3.99s, total=3.99s, count=1, min=3994.8ms, max=3994.8ms
+  task_sampling: mean=496.7ms, total=496.7ms, count=1, min=496.7ms, max=496.7ms
+  task_specific_sample: mean=493.1ms, total=493.1ms, count=1, min=493.1ms, max=493.1ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=439.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 23:54:05 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 23:54:05 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 23:54:05 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 23:54:05 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:54:05 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:54:05 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:54:05 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:54:05 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 23:54:05 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 23:54:05 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 23:54:05 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.077m, effective arm-mount z=0.937m (base_body_z=0.077m, pedestal_h=0.860m)
+[05/10 23:54:05 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 23:54:05 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 23:54:05 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.076562m
+[05/10 23:54:05 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 23:54:05 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 23:54:05 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 23:54:05 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.81203644  0.91616264  0.07656162] yaw=-145.4deg
+[05/10 23:54:05 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 23:54:05 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -48.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:54:05 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -69.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:54:05 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -29.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:54:05 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -49.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:54:05 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 23:54:05 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=246.9ms, total=246.9ms
+[05/10 23:54:05 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.812, 0.916, 0.077)
+[05/10 23:54:05 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -145.4 deg
+[05/10 23:54:05 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.991m
+[05/10 23:54:05 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:54:05 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:54:05 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:54:05 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:54:06 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 23:54:06 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 10/18 collected=0/3
+[05/10 23:54:06 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.098s
+[05/10 23:54:06 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 23:54:06 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 23:54:06 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps
+[05/10 23:54:08 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.739s, found feasible grasp: True
+[05/10 23:54:08 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.592[m] 96.562[deg]
+[05/10 23:54:08 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 23:54:08 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 23:54:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 23:55:17 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 23:55:28 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 23:55:33 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
diff --git a/fridge_7/chunk_011/shard_4_of_4.log b/fridge_7/chunk_011/shard_4_of_4.log
new file mode 100644
index 0000000000000000000000000000000000000000..ef765f44e02d45fbf0dc4d502d0cc935073a9ce9
--- /dev/null
+++ b/fridge_7/chunk_011/shard_4_of_4.log
@@ -0,0 +1,785 @@
+==========================================
+Generating data for: fridge -> /scr/ravenh/fridge_7/sim_chunks/chunk_011
+  shard=4/4  seed=21104  samples=3
+  CUDA_VISIBLE_DEVICES=3
+  scene=ithor_minimal_fridge_7  radius=[0.7,1.1]  theta=[-0.5,0.9]
+==========================================
+[nltk_data] Downloading package wordnet to /svl/u/ravenh/nltk_data...
+[nltk_data]   Package wordnet is already up-to-date!
+[nltk_data] Downloading package wordnet2022 to
+[nltk_data]     /svl/u/ravenh/nltk_data...
+[nltk_data]   Package wordnet2022 is already up-to-date!
+/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/evaluation/eval_main.py:127: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610).
+  _assert_data_versions_match()
+INFO:__main__:Overrode 1 camera(s) from scripts/datagen/picked_camera_extrinsics.json (pos_noise=0.05m, rot_noise=5.0deg)
+INFO:__main__:[setup_config] open task detected: defaulted task_sampler_config.placement_robot_height = 1.4m (override with --placement_robot_height)
+INFO:__main__:Mesh stand active: --robot_base_z=0.86m will be realized by offsetting the stand body, not by resizing.
+INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_011
+[05/10 23:31:25 INFO pipeline.py:640] WandB logging disabled (environment variables not set)
+[05/10 23:31:25 INFO pipeline.py:1359] Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes
+[05/10 23:31:25 INFO pipeline.py:1366] Evaluation configuration:
+/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/site-packages/pydantic/main.py:464: UserWarning: Pydantic serializer warnings:
+  PydanticSerializationUnexpectedValue(Expected `list[str]` - serialized value may not be as expected [field_name='receptacle_types', input_value=('ArmChair', 'Bed', 'Chai...fa', 'Stool', 'TVStand'), input_type=tuple])
+  PydanticSerializationUnexpectedValue(Expected `str` - serialized value may not be as expected [field_name='output_dir', input_value=PosixPath('/scr/ravenh/fr...7/sim_chunks/chunk_011'), input_type=PosixPath])
+  return self.__pydantic_serializer__.to_python(
+[05/10 23:31:25 INFO pipeline.py:1367] {'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_7/sim_chunks/chunk_011'),
+ '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 0x7ad4beefc7d0>,
+ 'robot_config': {'K_damping': None,
+                  'K_stiffness': None,
+                  '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_7',
+ 'seed': 21104,
+ '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': 0.2,
+                         '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'}
+INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_011
+[05/10 23:31:25 Worker 0 INFO task_sampler.py:317] 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'}}
+[05/10 23:31:25 Worker 0 INFO pipeline.py:437] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler
+[05/10 23:31:25 Worker 0 INFO pipeline.py:464] Worker 0 starting house 1 (index 0/1)
+DEBUG:filelock:Attempting to acquire lock 135054151667024 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Lock 135054151667024 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:molmospaces_resources:Building trie DB for scenes/ithor_minimal_fridge_7 under /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7
+DEBUG:filelock:Attempting to release lock 135054151667024 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Lock 135054151667024 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Attempting to acquire lock 135054159543184 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 135054159543184 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 135054159543696 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 135054159543696 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 135054159543696 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 135054159543696 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 135054159543184 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 135054159543184 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 135054151753680 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 135054151753680 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 135054151751184 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 135054151751184 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:molmospaces_resources:Ensuring 0 grasps archive(s) for droid_objaverse version=20251218
+DEBUG:filelock:Attempting to release lock 135054151751184 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 135054151751184 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 135054151753680 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 135054151753680 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+[05/10 23:31:25 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist
+DEBUG:OpenGL.platform.ctypesloader:Loaded libEGL.so => libEGL.so <CDLL 'libEGL.so', handle 58e69e39b200 at 0x7ad4bf455d50>
+DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 58e69e39cd30 at 0x7ad4bf0d1190>
+INFO:OpenGL.acceleratesupport:No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
+DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 58e69e39cd30 at 0x7ad4bf3e1610>
+[05/10 23:31:28 Worker 0 INFO task_sampler.py:797] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml
+[05/10 23:31:28 Worker 0 INFO pick_task_sampler.py:197] Setting up scene for house 1, task None...
+[05/10 23:31:28 Worker 0 INFO pick_task_sampler.py:842] Found 1 candidate pickup objects in the scene
+[05/10 23:31:28 Worker 0 INFO pick_task_sampler.py:926] Filtered to 1 valid candidate pickup objects, 100.0 %
+[05/10 23:31:28 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 23:31:28 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 23:31:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:31:28 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:31:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:31:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:31:28 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 23:31:28 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 23:31:28 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 23:31:28 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.077m, effective arm-mount z=0.937m (base_body_z=0.077m, pedestal_h=0.860m)
+[05/10 23:31:28 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 23:31:28 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 23:31:28 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.076782m
+[05/10 23:31:28 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 23:31:28 Worker 0 INFO env.py:780] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)
+[05/10 23:31:28 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 23:31:28 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -36.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:31:28 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -54.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:31:28 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 62.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:31:28 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -79.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:31:28 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.93678307  0.8402857   0.07678213] yaw=-149.7deg
+[05/10 23:31:28 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 23:31:28 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.76813749  0.21635655  0.07678213] yaw=152.8deg
+[05/10 23:31:28 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 23:31:28 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.68157984  0.81878541  0.07678213] yaw=-172.9deg
+[05/10 23:31:28 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 23:31:28 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 23:31:28 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=15.0ms, retries=355.5ms, total=370.5ms
+[05/10 23:31:28 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.937, 0.840, 0.077)
+[05/10 23:31:28 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -149.7 deg
+[05/10 23:31:28 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.845m
+[05/10 23:31:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:31:28 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:31:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:31:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:31:28 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 23:31:28 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 0/18 collected=0/3
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+[05/10 23:31:56 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 27.297s
+[05/10 23:31:56 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 23:31:56 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 23:31:56 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps
+[05/10 23:31:56 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.657s, found feasible grasp: True
+[05/10 23:31:56 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.444[m] 96.548[deg]
+[05/10 23:31:56 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 23:31:57 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 23:31:57 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 23:32:45 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 23:32:55 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 23:33:00 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 23:34:45 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True
+/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/subprocess.py:1885: RuntimeWarning: os.fork() was called. os.fork() is incompatible with multithreaded code, and JAX is multithreaded, so this will likely lead to a deadlock.
+  self.pid = _fork_exec(
+[05/10 23:35:06 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_011
+[05/10 23:35:06 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_011 batch 4/4: 1 episodes
+[05/10 23:35:06 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 23:35:20 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+DEBUG:h5py._conv:Creating converter from 5 to 3
+[05/10 23:35:20 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011
+[05/10 23:35:20 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_011 in 13.72s (batch: 4.37s, save: 9.35s)
+[05/10 23:35:21 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 0 house 1 success=True episode_total=3.62s:
+  episode_total: mean=235.74s, total=235.74s, count=1, min=235740.7ms, max=235740.7ms
+  sensor_polling: mean=522.8ms, total=156.83s, count=300, min=441.1ms, max=909.4ms
+  save_trajectories: mean=9.35s, total=9.35s, count=1, min=9347.2ms, max=9347.2ms
+  physics_step: mean=25.2ms, total=7.57s, count=300, min=15.7ms, max=90.1ms
+  save_batch_prep: mean=4.37s, total=4.37s, count=1, min=4369.9ms, max=4369.9ms
+  task_sampling: mean=3.62s, total=3.62s, count=1, min=3624.2ms, max=3624.2ms
+  scene_load: mean=2.81s, total=2.81s, count=1, min=2807.0ms, max=2807.0ms
+  scene_env_create: mean=1.83s, total=1.83s, count=1, min=1831.4ms, max=1831.4ms
+  scene_compile: mean=858.6ms, total=858.6ms, count=1, min=858.6ms, max=858.6ms
+  task_specific_sample: mean=814.3ms, total=814.3ms, count=1, min=814.3ms, max=814.3ms
+  compile_mujoco: mean=636.7ms, total=636.7ms, count=1, min=636.7ms, max=636.7ms
+  compile_xml_load: mean=148.2ms, total=148.2ms, count=1, min=148.2ms, max=148.2ms
+  scene_init: mean=75.7ms, total=75.7ms, count=1, min=75.7ms, max=75.7ms
+  compile_aux_objects: mean=45.0ms, total=45.0ms, count=1, min=45.0ms, max=45.0ms
+  compile_aux_policy_objects: mean=45.0ms, total=45.0ms, count=1, min=45.0ms, max=45.0ms
+  scene_asset_install: mean=41.2ms, total=41.2ms, count=1, min=41.2ms, max=41.2ms
+  asset_install_grasps: mean=29.6ms, total=29.6ms, count=1, min=29.6ms, max=29.6ms
+  compile_robot_add: mean=19.9ms, total=19.9ms, count=1, min=19.9ms, max=19.9ms
+  asset_install_objects: mean=8.9ms, total=8.9ms, count=1, min=8.9ms, max=8.9ms
+  asset_install_scene: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  scene_randomize: mean=1.2ms, total=1.2ms, count=1, min=1.2ms, max=1.2ms
+  mj_forward_sync: mean=457.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=58.2us, total=0.1ms, count=1, min=0.1ms, max=0.1ms
+[05/10 23:35:22 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 23:35:22 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 23:35:22 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 23:35:22 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:35:22 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:35:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:35:22 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:35:22 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 23:35:22 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 23:35:22 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 23:35:22 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.038m, effective arm-mount z=0.898m (base_body_z=0.038m, pedestal_h=0.860m)
+[05/10 23:35:22 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 23:35:22 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 23:35:22 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.037842m
+[05/10 23:35:22 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 23:35:22 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 23:35:22 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 23:35:22 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.79672647  0.87519575  0.03784208] yaw=-145.6deg
+[05/10 23:35:22 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 23:35:22 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.75131251  0.21558023  0.03784208] yaw=164.9deg
+[05/10 23:35:22 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 23:35:22 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.88646408  1.04241023  0.03784208] yaw=-137.3deg
+[05/10 23:35:23 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 23:35:23 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 23:35:23 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=235.2ms, total=235.2ms
+[05/10 23:35:23 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.797, 0.875, 0.038)
+[05/10 23:35:23 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -145.6 deg
+[05/10 23:35:23 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.987m
+[05/10 23:35:23 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:35:23 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:35:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:35:23 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:35:23 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 23:35:23 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 1/18 collected=0/3
+[05/10 23:35:23 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.111s
+[05/10 23:35:23 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 23:35:23 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 23:35:23 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.090s, found 88 non-colliding grasps
+[05/10 23:35:24 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.070s, found feasible grasp: True
+[05/10 23:35:24 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.549[m] 87.371[deg]
+[05/10 23:35:24 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 23:35:25 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 23:35:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 23:36:24 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 23:36:36 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 23:36:41 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 23:38:11 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True
+[05/10 23:38:33 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_011
+[05/10 23:38:33 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_011 batch 4/4: 1 episodes
+[05/10 23:38:33 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 23:38:47 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 23:38:47 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011
+[05/10 23:38:47 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_011 in 14.09s (batch: 4.42s, save: 9.68s)
+[05/10 23:38:48 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 1 house 1 success=True episode_total=0.58s:
+  episode_total: mean=205.59s, total=205.59s, count=1, min=205594.2ms, max=205594.2ms
+  sensor_polling: mean=517.8ms, total=155.34s, count=300, min=442.1ms, max=856.7ms
+  save_trajectories: mean=9.68s, total=9.68s, count=1, min=9676.3ms, max=9676.3ms
+  physics_step: mean=24.8ms, total=7.43s, count=300, min=18.3ms, max=72.2ms
+  save_batch_prep: mean=4.42s, total=4.42s, count=1, min=4417.0ms, max=4417.0ms
+  task_sampling: mean=583.8ms, total=583.8ms, count=1, min=583.8ms, max=583.8ms
+  task_specific_sample: mean=578.8ms, total=578.8ms, count=1, min=578.8ms, max=578.8ms
+  scene_randomize: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms
+  mj_forward_sync: mean=715.1us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
+  policy_setup: mean=23.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 23:38:49 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 23:38:49 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 23:38:49 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 23:38:50 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:38:50 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:38:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:38:50 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:38:50 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 23:38:50 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 23:38:50 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 23:38:50 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.065m, effective arm-mount z=0.925m (base_body_z=0.065m, pedestal_h=0.860m)
+[05/10 23:38:50 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 23:38:50 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 23:38:50 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.064635m
+[05/10 23:38:50 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 23:38:50 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 23:38:50 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 23:38:50 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.00511573  1.01040137  0.06463469] yaw=-145.9deg
+[05/10 23:38:50 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 23:38:50 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.80298611  0.47565056  0.06463469] yaw=184.7deg
+[05/10 23:38:50 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 23:38:50 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -59.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:38:50 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.64482705  0.49030811  0.06463469] yaw=-185.6deg
+[05/10 23:38:50 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 23:38:50 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 23:38:50 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=84.4ms, total=84.4ms
+[05/10 23:38:50 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.005, 1.010, 0.065)
+[05/10 23:38:50 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -145.9 deg
+[05/10 23:38:50 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.875m
+[05/10 23:38:50 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:38:50 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:38:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:38:50 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:38:50 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 23:38:50 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 2/18 collected=0/3
+[05/10 23:38:50 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.098s
+[05/10 23:38:50 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 23:38:50 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 23:38:50 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps
+[05/10 23:38:51 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.714s, found feasible grasp: True
+[05/10 23:38:51 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.448[m] 85.590[deg]
+[05/10 23:38:51 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 23:38:51 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 23:38:51 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 23:39:40 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 23:39:51 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 23:39:55 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 23:41:34 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 23:41:36 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 23:41:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 23:41:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 23:41:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 23:41:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 23:41:45 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True
+[05/10 23:42:11 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_011
+[05/10 23:42:11 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_011 batch 4/4: 1 episodes
+[05/10 23:42:11 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 23:42:25 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 23:42:25 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011
+[05/10 23:42:25 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_011 in 14.08s (batch: 4.72s, save: 9.35s)
+[05/10 23:42:26 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 2 house 1 success=True episode_total=0.44s:
+  episode_total: mean=216.56s, total=216.56s, count=1, min=216556.8ms, max=216556.8ms
+  sensor_polling: mean=510.7ms, total=153.20s, count=300, min=446.8ms, max=682.6ms
+  save_trajectories: mean=9.35s, total=9.35s, count=1, min=9352.9ms, max=9352.9ms
+  physics_step: mean=25.2ms, total=7.55s, count=300, min=18.6ms, max=143.4ms
+  save_batch_prep: mean=4.72s, total=4.72s, count=1, min=4722.7ms, max=4722.7ms
+  task_sampling: mean=438.4ms, total=438.4ms, count=1, min=438.4ms, max=438.4ms
+  task_specific_sample: mean=434.6ms, total=434.6ms, count=1, min=434.6ms, max=434.6ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=394.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=31.3us, 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
+[05/10 23:42:28 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 23:42:28 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 23:42:28 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 23:42:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:42:28 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:42:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:42:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:42:28 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 23:42:28 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 23:42:28 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 23:42:28 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.027m, effective arm-mount z=0.887m (base_body_z=0.027m, pedestal_h=0.860m)
+[05/10 23:42:28 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 23:42:28 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 23:42:28 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.027121m
+[05/10 23:42:28 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 23:42:28 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 23:42:28 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 23:42:28 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 114.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:42:28 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -63.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:42:28 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.88971007  0.83081089  0.02712107] yaw=-153.0deg
+[05/10 23:42:28 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 23:42:28 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.70712689  0.36916437  0.02712107] yaw=182.8deg
+[05/10 23:42:28 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 23:42:28 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 101.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:42:28 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 23:42:28 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=281.4ms, total=281.4ms
+[05/10 23:42:28 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.890, 0.831, 0.027)
+[05/10 23:42:28 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -153.0 deg
+[05/10 23:42:28 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.884m
+[05/10 23:42:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:42:28 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:42:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:42:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:42:28 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 23:42:28 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 3/18 collected=0/3
+[05/10 23:42:29 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.125s
+[05/10 23:42:29 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 23:42:29 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 23:42:29 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.099s, found 88 non-colliding grasps
+[05/10 23:42:30 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.359s, found feasible grasp: True
+[05/10 23:42:30 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.450[m] 88.073[deg]
+[05/10 23:42:30 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 23:42:31 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 23:42:31 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 23:43:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 23:43:32 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 23:43:37 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 23:45:17 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True
+[05/10 23:45:43 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_011
+[05/10 23:45:43 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_011 batch 4/4: 1 episodes
+[05/10 23:45:43 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 23:45:57 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 23:45:57 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011
+[05/10 23:45:57 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_011 in 14.24s (batch: 4.83s, save: 9.41s)
+[05/10 23:45:58 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 3 house 1 success=True episode_total=0.59s:
+  episode_total: mean=210.06s, total=210.06s, count=1, min=210055.4ms, max=210055.4ms
+  sensor_polling: mean=518.1ms, total=155.43s, count=300, min=449.3ms, max=699.9ms
+  save_trajectories: mean=9.41s, total=9.41s, count=1, min=9408.1ms, max=9408.1ms
+  physics_step: mean=25.2ms, total=7.56s, count=300, min=18.6ms, max=87.3ms
+  save_batch_prep: mean=4.83s, total=4.83s, count=1, min=4834.6ms, max=4834.6ms
+  task_sampling: mean=591.6ms, total=591.6ms, count=1, min=591.6ms, max=591.6ms
+  task_specific_sample: mean=587.2ms, total=587.2ms, count=1, min=587.2ms, max=587.2ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=535.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=24.0us, 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
+[05/10 23:46:00 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 23:46:00 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 23:46:00 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 23:46:00 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:46:00 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:46:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:46:00 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:46:00 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 23:46:00 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 23:46:00 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 23:46:00 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.001m, effective arm-mount z=0.861m (base_body_z=0.001m, pedestal_h=0.860m)
+[05/10 23:46:00 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 23:46:00 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 23:46:00 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.001132m
+[05/10 23:46:00 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 23:46:00 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 23:46:00 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 23:46:00 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.93106469  0.63508798  0.00113157] yaw=-168.9deg
+[05/10 23:46:00 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 23:46:00 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 53.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:46:00 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 122.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:46:00 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 64.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:46:00 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.78013499  0.2348868   0.00113157] yaw=172.6deg
+[05/10 23:46:00 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 23:46:00 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.00041027  0.88707649  0.00113157] yaw=-145.9deg
+[05/10 23:46:00 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 23:46:00 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 23:46:00 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=187.0ms, total=187.1ms
+[05/10 23:46:00 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.931, 0.635, 0.001)
+[05/10 23:46:00 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -168.9 deg
+[05/10 23:46:00 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.786m
+[05/10 23:46:00 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:46:00 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:46:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:46:00 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:46:00 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 23:46:00 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 4/18 collected=0/3
+[05/10 23:46:00 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.091s
+[05/10 23:46:00 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 23:46:00 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 23:46:00 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps
+[05/10 23:46:01 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.509s, found feasible grasp: True
+[05/10 23:46:01 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.324[m] 80.008[deg]
+[05/10 23:46:01 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 23:46:01 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 23:46:01 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 23:46:36 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 23:46:47 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 23:46:52 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 23:48:44 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True
+[05/10 23:49:11 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_011
+[05/10 23:49:11 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_011 batch 4/4: 1 episodes
+[05/10 23:49:11 Worker 0 INFO save_utils.py:278] Preparing episode data: 286 timesteps
+[05/10 23:49:24 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 23:49:24 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011
+[05/10 23:49:24 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_011 in 13.32s (batch: 4.40s, save: 8.91s)
+[05/10 23:49:25 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 4 house 1 success=True episode_total=0.53s:
+  episode_total: mean=205.48s, total=205.48s, count=1, min=205483.4ms, max=205483.4ms
+  sensor_polling: mean=525.2ms, total=149.67s, count=285, min=454.3ms, max=878.6ms
+  save_trajectories: mean=8.91s, total=8.91s, count=1, min=8914.5ms, max=8914.5ms
+  physics_step: mean=24.9ms, total=7.10s, count=285, min=15.6ms, max=59.0ms
+  save_batch_prep: mean=4.40s, total=4.40s, count=1, min=4401.1ms, max=4401.1ms
+  task_sampling: mean=527.7ms, total=527.7ms, count=1, min=527.7ms, max=527.7ms
+  task_specific_sample: mean=522.9ms, total=522.9ms, count=1, min=522.9ms, max=522.9ms
+  scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
+  mj_forward_sync: mean=564.5us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=28.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 23:49:27 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 23:49:27 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 23:49:27 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 23:49:27 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:49:27 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:49:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:49:27 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:49:27 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 23:49:27 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 23:49:27 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 23:49:27 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.022m, effective arm-mount z=0.882m (base_body_z=0.022m, pedestal_h=0.860m)
+[05/10 23:49:27 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 23:49:27 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 23:49:27 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.021820m
+[05/10 23:49:27 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 23:49:27 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 23:49:27 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 23:49:27 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -163.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:49:27 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.7866459   0.05552389  0.02182031] yaw=152.0deg
+[05/10 23:49:27 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 23:49:27 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 78.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:49:28 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 75.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:49:28 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.04361112  1.09358995  0.02182031] yaw=-139.2deg
+[05/10 23:49:28 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 23:49:28 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.66489552  0.23432551  0.02182031] yaw=157.8deg
+[05/10 23:49:28 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 23:49:28 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 23:49:28 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=348.2ms, total=348.2ms
+[05/10 23:49:28 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.787, 0.056, 0.022)
+[05/10 23:49:28 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 152.0 deg
+[05/10 23:49:28 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.010m
+[05/10 23:49:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:49:28 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:49:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:49:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:49:28 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 23:49:28 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 5/18 collected=0/3
+[05/10 23:49:28 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.110s
+[05/10 23:49:28 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 23:49:28 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 23:49:28 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps
+[05/10 23:49:32 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 3.993s, found feasible grasp: True
+[05/10 23:49:32 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.554[m] 88.343[deg]
+[05/10 23:49:32 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 23:49:33 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 23:49:33 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 23:50:35 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 23:50:46 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 23:50:52 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 23:52:33 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True
+[05/10 23:53:00 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_011
+[05/10 23:53:00 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_011 batch 4/4: 1 episodes
+[05/10 23:53:00 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 23:53:14 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 23:53:14 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011
+[05/10 23:53:14 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_011 in 14.11s (batch: 4.59s, save: 9.52s)
+[05/10 23:53:15 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 5 house 1 success=True episode_total=0.65s:
+  episode_total: mean=227.79s, total=227.79s, count=1, min=227793.6ms, max=227793.6ms
+  sensor_polling: mean=552.8ms, total=165.84s, count=300, min=467.6ms, max=862.6ms
+  save_trajectories: mean=9.52s, total=9.52s, count=1, min=9520.9ms, max=9520.9ms
+  physics_step: mean=29.4ms, total=8.82s, count=300, min=19.0ms, max=119.3ms
+  save_batch_prep: mean=4.59s, total=4.59s, count=1, min=4587.2ms, max=4587.2ms
+  task_sampling: mean=649.7ms, total=649.7ms, count=1, min=649.7ms, max=649.7ms
+  task_specific_sample: mean=645.2ms, total=645.2ms, count=1, min=645.2ms, max=645.2ms
+  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
+  mj_forward_sync: mean=550.9us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=27.2us, 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
+[05/10 23:53:17 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 23:53:17 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 23:53:17 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 23:53:17 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:53:17 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:53:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:53:17 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:53:17 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 23:53:17 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 23:53:17 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 23:53:17 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.014m, effective arm-mount z=0.874m (base_body_z=0.014m, pedestal_h=0.860m)
+[05/10 23:53:17 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 23:53:17 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 23:53:17 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.014464m
+[05/10 23:53:17 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 23:53:17 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 23:53:17 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 23:53:17 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 76.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:53:17 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -59.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:53:17 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 114.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:53:17 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.94476567  0.36109704  0.01446412] yaw=175.0deg
+[05/10 23:53:17 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 23:53:17 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 113.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:53:17 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.96003198  0.76849282  0.01446412] yaw=-153.9deg
+[05/10 23:53:17 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 23:53:17 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.74441002  0.70876784  0.01446412] yaw=-160.5deg
+[05/10 23:53:17 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 23:53:17 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 23:53:17 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=327.5ms, total=327.5ms
+[05/10 23:53:17 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.945, 0.361, 0.014)
+[05/10 23:53:17 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 175.0 deg
+[05/10 23:53:17 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.767m
+[05/10 23:53:17 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:53:17 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:53:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:53:17 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:53:17 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 23:53:17 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 6/18 collected=0/3
+[05/10 23:53:18 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.145s
+[05/10 23:53:18 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 23:53:18 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 23:53:18 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps
+[05/10 23:53:19 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.058s, found feasible grasp: True
+[05/10 23:53:19 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.327[m] 94.913[deg]
+[05/10 23:53:19 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 23:53:19 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 23:53:19 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 23:53:54 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 23:54:04 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 23:54:09 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 23:54:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 23:54:55 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 23:54:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 23:55:03 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 23:55:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 23:55:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 23:55:11 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 23:55:13 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 23:55:13 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 23:55:13 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 23:55:13 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 23:55:13 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 23:55:14 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.079s, found 78 non-colliding grasps
+[05/10 23:55:14 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.439s, found feasible grasp: True
+[05/10 23:55:14 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.694[deg]
+[05/10 23:55:14 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 23:55:15 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 23:55:15 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 23:55:22 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 23:55:34 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
diff --git a/fridge_7/chunk_011/trajectories_batch_1_of_4_cam_rand.h5 b/fridge_7/chunk_011/trajectories_batch_1_of_4_cam_rand.h5
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diff --git a/fridge_7/chunk_011/trajectories_batch_3_of_4_cam_rand.h5 b/fridge_7/chunk_011/trajectories_batch_3_of_4_cam_rand.h5
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diff --git a/fridge_7/chunk_011/trajectories_batch_4_of_4_cam_rand.h5 b/fridge_7/chunk_011/trajectories_batch_4_of_4_cam_rand.h5
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