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 05/11 01:46:56 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
 05/11 01:47:00 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
 05/11 01:47:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 01:47:09 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 01:47:13 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 01:47:19 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 01:47:28 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 01:47:33 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 01:48:09 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 01:48:24 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 01:48:32 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 01:48:32 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/11 01:48:32 INFO: [Worker 0] Preparing episode data: 286 timesteps	[save_utils.py: 278]
+05/11 01:48:36 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 01:48:39 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 01:48:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 01:48:45 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 01:48:45 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 12.82s (batch: 3.94s, save: 8.88s)	[pipeline.py: 300]
+05/11 01:48:46 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=4.27s:
+  episode_total: mean=168.99s, total=337.99s, count=2, min=167835.7ms, max=170151.2ms
+  sensor_polling: mean=423.6ms, total=238.49s, count=563, min=306.1ms, max=708.4ms
+  physics_step: mean=23.5ms, total=13.22s, count=563, min=15.7ms, max=56.2ms
+  save_trajectories: mean=8.88s, total=8.88s, count=1, min=8882.6ms, max=8882.6ms
+  task_sampling: mean=2.14s, total=4.27s, count=2, min=531.2ms, max=3742.9ms
+  save_batch_prep: mean=3.94s, total=3.94s, count=1, min=3938.1ms, max=3938.1ms
+  scene_load: mean=2.92s, total=2.92s, count=1, min=2923.7ms, max=2923.7ms
+  scene_env_create: mean=1.89s, total=1.89s, count=1, min=1885.3ms, max=1885.3ms
+  task_specific_sample: mean=672.7ms, total=1.35s, count=2, min=528.4ms, max=817.0ms
+  scene_compile: mean=921.4ms, total=921.4ms, count=1, min=921.4ms, max=921.4ms
+  compile_mujoco: mean=700.1ms, total=700.1ms, count=1, min=700.1ms, max=700.1ms
+  compile_xml_load: mean=140.1ms, total=140.1ms, count=1, min=140.1ms, max=140.1ms
+  scene_init: mean=78.9ms, total=78.9ms, count=1, min=78.9ms, max=78.9ms
+  compile_aux_objects: mean=56.5ms, total=56.5ms, count=1, min=56.5ms, max=56.5ms
+  compile_aux_policy_objects: mean=56.5ms, total=56.5ms, count=1, min=56.5ms, max=56.5ms
+  scene_asset_install: mean=38.0ms, total=38.0ms, count=1, min=38.0ms, max=38.0ms
+  asset_install_grasps: mean=27.4ms, total=27.4ms, count=1, min=27.4ms, max=27.4ms
+  compile_robot_add: mean=14.7ms, total=14.7ms, count=1, min=14.7ms, max=14.7ms
+  asset_install_objects: mean=8.2ms, total=8.2ms, count=1, min=8.2ms, max=8.2ms
+  asset_install_scene: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  scene_randomize: mean=1.1ms, total=2.3ms, count=2, min=0.9ms, max=1.4ms
+  mj_forward_sync: mean=465.7us, total=0.9ms, count=2, min=0.3ms, max=0.6ms
+  policy_setup: mean=16.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 01:48:46 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 01:48:46 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/11 01:48:46 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 01:48:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 01:48:47 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 01:48:47 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 01:48:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 01:48:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 01:48:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 01:48:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 01:48:47 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 01:48:47 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 01:48:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 01:48:47 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]
+05/11 01:48:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 01:48:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 01:48:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.051287m	[env.py: 870]
+05/11 01:48:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 01:48:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 01:48:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 01:48:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 96.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 01:48:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.8738344   0.17461644  0.05128665] yaw=167.7deg	[env.py: 1019]
+05/11 01:48:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 01:48:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.84801483  1.03552742  0.05128665] yaw=-139.4deg	[env.py: 1019]
+05/11 01:48:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 01:48:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.77532405  0.37990962  0.05128665] yaw=174.2deg	[env.py: 1019]
+05/11 01:48:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 01:48:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 01:48:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=89.4ms, total=89.4ms	[env.py: 1075]
+05/11 01:48:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.874, 0.175, 0.051)	[env.py: 1079]
+05/11 01:48:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 167.7 deg	[env.py: 1082]
+05/11 01:48:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.884m	[env.py: 1086]
+05/11 01:48:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 01:48:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 01:48:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 01:48:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 01:48:48 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 01:48:48 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/11 01:48:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.090s	[base_object_manipulation_planner_policy.py: 377]
+05/11 01:48:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 01:48:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 01:48:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.123s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 01:48:49 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.775s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 01:48:49 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.450[m] 81.516[deg]	[grasp_sample.py: 539]
+05/11 01:48:49 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 01:48:49 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 01:48:49 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 01:48:49 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 01:48:58 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 01:48:58 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/11 01:48:58 INFO: [Worker 0] Preparing episode data: 297 timesteps	[save_utils.py: 278]
+05/11 01:48:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 01:48:59 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 01:48:59 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 13.48s (batch: 3.85s, save: 9.63s)	[pipeline.py: 300]
+05/11 01:49:00 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.35s:
+  episode_total: mean=167.57s, total=167.57s, count=1, min=167571.2ms, max=167571.2ms
+  sensor_polling: mean=403.8ms, total=121.15s, count=300, min=291.7ms, max=613.7ms
+  save_trajectories: mean=9.63s, total=9.63s, count=1, min=9628.8ms, max=9628.8ms
+  physics_step: mean=22.1ms, total=6.64s, count=300, min=14.3ms, max=37.1ms
+  save_batch_prep: mean=3.85s, total=3.85s, count=1, min=3847.9ms, max=3847.9ms
+  task_sampling: mean=350.4ms, total=350.4ms, count=1, min=350.4ms, max=350.4ms
+  task_specific_sample: mean=346.1ms, total=346.1ms, count=1, min=346.1ms, max=346.1ms
+  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
+  mj_forward_sync: mean=447.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=24.8us, 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]
+05/11 01:49:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 01:49:01 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 01:49:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 01:49:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 01:49:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 01:49:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 01:49:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 01:49:01 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 01:49:01 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]
+05/11 01:49:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 01:49:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.053m, effective arm-mount z=0.913m (base_body_z=0.053m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 01:49:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 01:49:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 01:49:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.053048m	[env.py: 870]
+05/11 01:49:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 01:49:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 01:49:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 01:49:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.18182767  1.1068698   0.05304755] yaw=-125.9deg	[env.py: 1019]
+05/11 01:49:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 01:49:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.06878767  1.27351121  0.05304755] yaw=-140.0deg	[env.py: 1019]
+05/11 01:49:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 01:49:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -42.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 01:49:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 59.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 01:49:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 62.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 01:49:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.98973084  1.29938128  0.05304755] yaw=-121.2deg	[env.py: 1019]
+05/11 01:49:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 01:49:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 01:49:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=186.4ms, total=186.5ms	[env.py: 1075]
+05/11 01:49:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.182, 1.107, 0.053)	[env.py: 1079]
+05/11 01:49:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -125.9 deg	[env.py: 1082]
+05/11 01:49:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.813m	[env.py: 1086]
+05/11 01:49:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 01:49:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 01:49:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 01:49:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 01:49:02 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 01:49:02 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/11 01:49:02 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 01:49:02 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 01:49:02 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/11 01:49:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.114s	[base_object_manipulation_planner_policy.py: 377]
+05/11 01:49:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 01:49:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 01:49:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 01:49:04 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.936s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 01:49:04 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.416[m] 85.824[deg]	[grasp_sample.py: 539]
+05/11 01:49:04 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 01:49:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 01:49:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 01:49:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 01:49:11 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 01:49:11 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 12.64s (batch: 3.46s, save: 9.18s)	[pipeline.py: 300]
+05/11 01:49:11 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.34s:
+  episode_total: mean=162.37s, total=162.37s, count=1, min=162372.2ms, max=162372.2ms
+  sensor_polling: mean=393.9ms, total=116.58s, count=296, min=297.1ms, max=657.4ms
+  save_trajectories: mean=9.18s, total=9.18s, count=1, min=9183.6ms, max=9183.6ms
+  physics_step: mean=24.1ms, total=7.12s, count=296, min=17.5ms, max=79.0ms
+  save_batch_prep: mean=3.46s, total=3.46s, count=1, min=3456.9ms, max=3456.9ms
+  task_sampling: mean=343.6ms, total=343.6ms, count=1, min=343.6ms, max=343.6ms
+  task_specific_sample: mean=339.0ms, total=339.0ms, count=1, min=339.0ms, max=339.0ms
+  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
+  mj_forward_sync: mean=569.0us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=25.2us, 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]
+05/11 01:49:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 01:49:12 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 01:49:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 01:49:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 01:49:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 01:49:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 01:49:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 01:49:12 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 01:49:12 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]
+05/11 01:49:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 01:49:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.082m, effective arm-mount z=0.942m (base_body_z=0.082m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 01:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 01:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 01:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.081918m	[env.py: 870]
+05/11 01:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 01:49:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 01:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 01:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -32.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 01:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -31.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 01:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 113.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 01:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 175.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 01:49:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.02601955  1.02097051  0.08191792] yaw=-133.8deg	[env.py: 1019]
+05/11 01:49:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 01:49:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.803048    0.24821671  0.08191792] yaw=154.1deg	[env.py: 1019]
+05/11 01:49:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 01:49:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.97171989  0.84559497  0.08191792] yaw=-147.0deg	[env.py: 1019]
+05/11 01:49:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 01:49:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 01:49:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=230.1ms, total=230.1ms	[env.py: 1075]
+05/11 01:49:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.026, 1.021, 0.082)	[env.py: 1079]
+05/11 01:49:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -133.8 deg	[env.py: 1082]
+05/11 01:49:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.865m	[env.py: 1086]
+05/11 01:49:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 01:49:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 01:49:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 01:49:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 01:49:13 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 01:49:13 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/11 01:49:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.101s	[base_object_manipulation_planner_policy.py: 377]
+05/11 01:49:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 01:49:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 01:49:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.063s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 01:49:14 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.636s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 01:49:14 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.435[m] 87.449[deg]	[grasp_sample.py: 539]
+05/11 01:49:14 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 01:49:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 01:49:14 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 01:49:14 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 12.00s (batch: 3.42s, save: 8.58s)	[pipeline.py: 300]
+05/11 01:49:14 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 01:49:14 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 01:49:14 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.41s:
+  episode_total: mean=179.25s, total=179.25s, count=1, min=179248.9ms, max=179248.9ms
+  sensor_polling: mean=442.3ms, total=132.70s, count=300, min=302.9ms, max=669.1ms
+  save_trajectories: mean=8.58s, total=8.58s, count=1, min=8578.7ms, max=8578.7ms
+  physics_step: mean=22.5ms, total=6.74s, count=300, min=17.0ms, max=27.5ms
+  save_batch_prep: mean=3.42s, total=3.42s, count=1, min=3417.7ms, max=3417.7ms
+  task_sampling: mean=412.0ms, total=412.0ms, count=1, min=412.0ms, max=412.0ms
+  task_specific_sample: mean=407.6ms, total=407.6ms, count=1, min=407.6ms, max=407.6ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=598.2us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=15.4us, 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]
+05/11 01:49:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 01:49:16 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 01:49:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 01:49:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 01:49:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 01:49:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 01:49:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 01:49:16 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 01:49:16 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 01:49:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 01:49:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.086m, effective arm-mount z=0.946m (base_body_z=0.086m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 01:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 01:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 01:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.085532m	[env.py: 870]
+05/11 01:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 01:49:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 01:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 01:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 66.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 01:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 82.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 01:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 86.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 01:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -39.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 01:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.63031827  0.28551673  0.08553248] yaw=168.9deg	[env.py: 1019]
+05/11 01:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 01:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 01:49:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=355.6ms, total=355.7ms	[env.py: 1075]
+05/11 01:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.630, 0.286, 0.086)	[env.py: 1079]
+05/11 01:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 168.9 deg	[env.py: 1082]
+05/11 01:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.090m	[env.py: 1086]
+05/11 01:49:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 01:49:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 01:49:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 01:49:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 01:49:16 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 01:49:16 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/11 01:49:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.088s	[base_object_manipulation_planner_policy.py: 377]
+05/11 01:49:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 01:49:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 01:49:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.062s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 01:49:19 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.245s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 01:49:19 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.665[m] 90.585[deg]	[grasp_sample.py: 539]
+05/11 01:49:19 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 01:49:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 01:49:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 01:49:20 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 01:49:24 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 01:49:33 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 01:49:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 01:49:39 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 01:49:47 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 01:49:47 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 01:49:51 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 01:49:55 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 01:49:59 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 01:50:22 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 01:50:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:50:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:50:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:50:30 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 01:50:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:50:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:50:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:50:34 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 01:50:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:50:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:50:37 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 01:50:37 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 01:50:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 01:50:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 01:50:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/11 01:50:37 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.503s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 01:50:37 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.180[deg]	[grasp_sample.py: 539]
+05/11 01:50:38 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 01:50:39 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 01:50:39 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 01:50:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:50:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:50:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:50:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:50:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:50:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:50:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:50:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:50:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:50:51 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 01:50:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:50:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:50:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:50:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:50:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:50:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:50:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:50:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:50:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:50:57 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 01:50:57 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 01:50:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 01:50:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 01:50:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/11 01:50:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:50:59 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.708s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 01:50:59 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.030[m] 3.968[deg]	[grasp_sample.py: 539]
+05/11 01:50:59 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 01:50:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:50:59 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 01:50:59 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 01:50:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 01:50:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 01:50:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/11 01:51:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 01:51:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 01:51:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 01:51:02 INFO: [Worker 0] Feasibility-checked 78 grasps in 2.412s, found feasible grasp: False	[grasp_sample.py: 500]
+05/11 01:51:02 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/11 01:51:03 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 01:51:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 01:51:04 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 01:51:04 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 01:51:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 01:51:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 01:51:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 01:51:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 01:51:04 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 01:51:04 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 01:51:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 01:51:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.097m, effective arm-mount z=0.957m (base_body_z=0.097m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 01:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 01:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 01:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.096683m	[env.py: 870]
+05/11 01:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 01:51:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 01:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 01:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -156.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 01:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 88.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 01:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -61.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 01:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.83155345  1.13828838  0.09668264] yaw=-136.7deg	[env.py: 1019]
+05/11 01:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 01:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.85045805  0.29309748  0.09668264] yaw=176.4deg	[env.py: 1019]
+05/11 01:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 01:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.93289886  0.58887703  0.09668264] yaw=-180.6deg	[env.py: 1019]
+05/11 01:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 01:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 01:51:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=158.1ms, total=158.2ms	[env.py: 1075]
+05/11 01:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.832, 1.138, 0.097)	[env.py: 1079]
+05/11 01:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -136.7 deg	[env.py: 1082]
+05/11 01:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.090m	[env.py: 1086]
+05/11 01:51:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 01:51:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 01:51:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 01:51:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 01:51:05 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 01:51:05 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/11 01:51:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s	[base_object_manipulation_planner_policy.py: 377]
+05/11 01:51:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 01:51:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 01:51:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 01:51:05 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 01:51:07 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.338s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 01:51:07 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.647[m] 81.824[deg]	[grasp_sample.py: 539]
+05/11 01:51:08 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 01:51:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 01:51:11 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 01:51:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 01:51:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 01:51:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 01:51:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 01:51:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 01:51:11 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 01:51:11 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]
+05/11 01:51:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 01:51:11 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]
+05/11 01:51:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 01:51:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 01:51:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.042705m	[env.py: 870]
+05/11 01:51:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 01:51:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 01:51:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 01:51:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.81522746  0.51220195  0.04270465] yaw=-173.6deg	[env.py: 1019]
+05/11 01:51:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 01:51:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.76623983  0.58257309  0.04270465] yaw=-176.2deg	[env.py: 1019]
+05/11 01:51:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 01:51:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 76.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 01:51:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 54.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 01:51:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 62.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 01:51:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.85580961  1.12382352  0.04270465] yaw=-138.1deg	[env.py: 1019]
+05/11 01:51:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 01:51:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 01:51:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=156.7ms, total=156.7ms	[env.py: 1075]
+05/11 01:51:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.815, 0.512, 0.043)	[env.py: 1079]
+05/11 01:51:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -173.6 deg	[env.py: 1082]
+05/11 01:51:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.888m	[env.py: 1086]
+05/11 01:51:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 01:51:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 01:51:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 01:51:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 01:51:12 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 01:51:12 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/11 01:51:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.096s	[base_object_manipulation_planner_policy.py: 377]
+05/11 01:51:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 01:51:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 01:51:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.063s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 01:51:12 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 01:51:12 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.646s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 01:51:12 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.465[m] 92.514[deg]	[grasp_sample.py: 539]
+05/11 01:51:12 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 01:51:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 01:51:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 01:51:13 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 01:51:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:51:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:51:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:51:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:51:16 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 01:51:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:51:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:51:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:51:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:51:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:51:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:51:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:51:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:51:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:51:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:51:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:51:22 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 01:51:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:51:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:51:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:51:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:51:25 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 01:51:25 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 01:51:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 01:51:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 01:51:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.084s, found 74 non-colliding grasps	[grasp_sample.py: 465]
+05/11 01:51:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:51:26 INFO: [Worker 0] Feasibility-checked 74 grasps in 1.485s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 01:51:26 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.026[m] 3.270[deg]	[grasp_sample.py: 539]
+05/11 01:51:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:51:27 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 01:51:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:51:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 01:51:29 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 01:51:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 01:51:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 01:51:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 01:51:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 01:51:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 01:51:29 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 01:51:29 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]
+05/11 01:51:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 01:51:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.004m, effective arm-mount z=0.864m (base_body_z=0.004m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 01:51:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 01:51:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 01:51:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.003828m	[env.py: 870]
+05/11 01:51:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 01:51:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 01:51:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 01:51:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 64.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 01:51:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 111.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 01:51:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -32.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 01:51:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -36.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 01:51:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 107.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 01:51:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.06135488  0.97543329  0.00382803] yaw=-144.4deg	[env.py: 1019]
+05/11 01:51:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 01:51:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.03061525  1.06191693  0.00382803] yaw=-138.7deg	[env.py: 1019]
+05/11 01:51:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 01:51:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 01:51:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=225.1ms, total=225.2ms	[env.py: 1075]
+05/11 01:51:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.061, 0.975, 0.004)	[env.py: 1079]
+05/11 01:51:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -144.4 deg	[env.py: 1082]
+05/11 01:51:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.809m	[env.py: 1086]
+05/11 01:51:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 01:51:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 01:51:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 01:51:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 01:51:29 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 01:51:29 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/11 01:51:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.057s	[base_object_manipulation_planner_policy.py: 377]
+05/11 01:51:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 01:51:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 01:51:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 01:51:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:51:29 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 01:51:29 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 01:51:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 01:51:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 01:51:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.084s, found 68 non-colliding grasps	[grasp_sample.py: 465]
+05/11 01:51:30 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.703s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 01:51:30 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.417[m] 89.648[deg]	[grasp_sample.py: 539]
+05/11 01:51:30 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 01:51:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 01:51:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 01:51:34 INFO: [Worker 0] Feasibility-checked 68 grasps in 4.146s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 01:51:34 INFO: [Worker 0] Feasible grasp found 48 (originally 48): w/ 0.034[m] 12.378[deg]	[grasp_sample.py: 539]
+05/11 01:51:34 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 01:51:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 01:51:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 01:51:39 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 01:51:45 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 01:51:45 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/11 01:51:45 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 01:51:48 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 01:51:50 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 01:51:52 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 01:51:56 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/11 01:51:56 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=False episode_total=0.64s:
+  episode_total: mean=160.66s, total=160.66s, count=1, min=160662.2ms, max=160662.2ms
+  sensor_polling: mean=422.1ms, total=126.64s, count=300, min=306.1ms, max=696.2ms
+  physics_step: mean=21.2ms, total=6.35s, count=300, min=13.6ms, max=30.9ms
+  task_sampling: mean=640.6ms, total=640.6ms, count=1, min=640.6ms, max=640.6ms
+  task_specific_sample: mean=636.9ms, total=636.9ms, count=1, min=636.9ms, max=636.9ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=397.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  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]
+05/11 01:51:57 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 01:51:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 01:51:58 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 01:51:58 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 01:51:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 01:51:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 01:51:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 01:51:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 01:51:58 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 01:51:58 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 01:51:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 01:51:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.075m, effective arm-mount z=0.935m (base_body_z=0.075m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 01:51:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 01:51:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 01:51:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.075123m	[env.py: 870]
+05/11 01:51:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 01:51:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 01:51:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 01:51:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 98.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 01:51:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.98214696  1.21086955  0.07512273] yaw=-141.1deg	[env.py: 1019]
+05/11 01:51:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 01:51:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.85709066  1.12283748  0.07512273] yaw=-152.3deg	[env.py: 1019]
+05/11 01:51:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 01:51:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -63.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 01:51:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 107.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 01:51:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.04126624  0.94393252  0.07512273] yaw=-155.8deg	[env.py: 1019]
+05/11 01:51:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 01:51:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 01:51:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=199.5ms, total=199.6ms	[env.py: 1075]
+05/11 01:51:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.982, 1.211, 0.075)	[env.py: 1079]
+05/11 01:51:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -141.1 deg	[env.py: 1082]
+05/11 01:51:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.025m	[env.py: 1086]
+05/11 01:51:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 01:51:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 01:51:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 01:51:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 01:51:58 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 01:51:58 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/11 01:51:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
+05/11 01:51:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 01:51:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 01:51:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 01:52:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 01:52:00 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 01:52:00 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 14.92s (batch: 4.10s, save: 10.81s)	[pipeline.py: 300]
+05/11 01:52:00 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 01:52:00 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.075s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 01:52:00 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.594[m] 84.046[deg]	[grasp_sample.py: 539]
+05/11 01:52:00 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 01:52:01 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.51s:
+  episode_total: mean=168.25s, total=168.25s, count=1, min=168247.0ms, max=168247.0ms
+  sensor_polling: mean=374.8ms, total=112.44s, count=300, min=290.1ms, max=658.2ms
+  save_trajectories: mean=10.81s, total=10.81s, count=1, min=10813.5ms, max=10813.5ms
+  physics_step: mean=22.0ms, total=6.60s, count=300, min=13.8ms, max=65.3ms
+  save_batch_prep: mean=4.10s, total=4.10s, count=1, min=4103.4ms, max=4103.4ms
+  task_sampling: mean=511.6ms, total=511.6ms, count=1, min=511.6ms, max=511.6ms
+  task_specific_sample: mean=507.9ms, total=507.9ms, count=1, min=507.9ms, max=507.9ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=404.2us, 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]
+05/11 01:52:01 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 01:52:01 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 01:52:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 01:52:02 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 01:52:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 01:52:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 01:52:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 01:52:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 01:52:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 01:52:02 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 01:52:02 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]
+05/11 01:52:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 01:52:02 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]
+05/11 01:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 01:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 01:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.032824m	[env.py: 870]
+05/11 01:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 01:52:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 01:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 01:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 118.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 01:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 179.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 01:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -68.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 01:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 75.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 01:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -171.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 01:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.76634406  0.6731517   0.03282393] yaw=-170.9deg	[env.py: 1019]
+05/11 01:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 01:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.92252214  0.42902524  0.03282393] yaw=180.4deg	[env.py: 1019]
+05/11 01:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 01:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 01:52:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=191.8ms, total=191.8ms	[env.py: 1075]
+05/11 01:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.766, 0.673, 0.033)	[env.py: 1079]
+05/11 01:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -170.9 deg	[env.py: 1082]
+05/11 01:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.955m	[env.py: 1086]
+05/11 01:52:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 01:52:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 01:52:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 01:52:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 01:52:02 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 01:52:02 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/11 01:52:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
+05/11 01:52:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 01:52:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 01:52:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 01:52:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.760s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 01:52:03 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.542[m] 92.652[deg]	[grasp_sample.py: 539]
+05/11 01:52:03 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 01:52:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 01:52:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 01:52:04 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 01:52:06 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 01:52:15 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 01:52:18 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 01:52:48 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 01:52:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 01:52:56 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 01:53:00 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 01:53:03 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 01:53:07 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 01:53:24 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 01:53:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:53:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:53:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:53:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:53:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:53:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:53:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:53:41 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 01:53:46 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 01:53:46 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/11 01:53:46 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 01:53:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:53:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:53:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:53:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:53:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:53:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:53:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:53:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:53:57 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 01:53:57 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 01:53:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 01:53:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 01:53:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.082s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/11 01:54:00 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.557s, found feasible grasp: False	[grasp_sample.py: 500]
+05/11 01:54:00 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/11 01:54:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 01:54:01 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 01:54:01 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 14.46s (batch: 4.72s, save: 9.74s)	[pipeline.py: 300]
+05/11 01:54:01 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=1.38s:
+  episode_total: mean=98.16s, total=294.48s, count=3, min=3888.3ms, max=170263.3ms
+  sensor_polling: mean=393.7ms, total=219.68s, count=558, min=297.2ms, max=681.0ms
+  physics_step: mean=21.5ms, total=11.98s, count=558, min=14.3ms, max=48.2ms
+  save_trajectories: mean=9.74s, total=9.74s, count=1, min=9741.6ms, max=9741.6ms
+  save_batch_prep: mean=4.72s, total=4.72s, count=1, min=4718.4ms, max=4718.4ms
+  task_sampling: mean=459.5ms, total=1.38s, count=3, min=444.4ms, max=485.0ms
+  task_specific_sample: mean=449.3ms, total=1.35s, count=3, min=425.4ms, max=480.8ms
+  scene_randomize: mean=4.5ms, total=13.5ms, count=3, min=2.7ms, max=5.6ms
+  mj_forward_sync: mean=528.6us, total=1.6ms, count=3, min=0.4ms, max=0.6ms
+  policy_setup: mean=23.9us, 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]
+05/11 01:54:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 01:54:03 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 01:54:03 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 01:54:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 01:54:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 01:54:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 01:54:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 01:54:03 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 01:54:03 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]
+05/11 01:54:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 01:54:03 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]
+05/11 01:54:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 01:54:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 01:54:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.044457m	[env.py: 870]
+05/11 01:54:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 01:54:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 01:54:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 01:54:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 120.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 01:54:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 110.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 01:54:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -61.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 01:54:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -31.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 01:54:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.87912642  1.15290535  0.04445704] yaw=-150.2deg	[env.py: 1019]
+05/11 01:54:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 01:54:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.96728257  0.21506504  0.04445704] yaw=168.9deg	[env.py: 1019]
+05/11 01:54:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 01:54:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.6409874   0.31008374  0.04445704] yaw=181.8deg	[env.py: 1019]
+05/11 01:54:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 01:54:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 01:54:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=169.5ms, total=169.5ms	[env.py: 1075]
+05/11 01:54:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.879, 1.153, 0.044)	[env.py: 1079]
+05/11 01:54:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -150.2 deg	[env.py: 1082]
+05/11 01:54:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.062m	[env.py: 1086]
+05/11 01:54:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 01:54:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 01:54:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 01:54:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 01:54:03 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 01:54:03 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/11 01:54:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.117s	[base_object_manipulation_planner_policy.py: 377]
+05/11 01:54:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 01:54:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 01:54:03 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 01:54:03 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/11 01:54:03 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 01:54:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 01:54:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 01:54:03 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 01:54:03 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 01:54:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 01:54:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 01:54:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 01:54:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 01:54:03 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 01:54:03 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]
+05/11 01:54:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 01:54:03 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]
+05/11 01:54:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 01:54:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 01:54:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.080801m	[env.py: 870]
+05/11 01:54:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 01:54:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 01:54:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 01:54:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -60.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 01:54:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.61463119  0.6304724   0.08080125] yaw=-172.0deg	[env.py: 1019]
+05/11 01:54:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 01:54:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 91.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 01:54:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -63.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 01:54:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.84461776  0.34529233  0.08080125] yaw=165.4deg	[env.py: 1019]
+05/11 01:54:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 01:54:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.75437909  0.90699126  0.08080125] yaw=-156.2deg	[env.py: 1019]
+05/11 01:54:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 01:54:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 01:54:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=176.6ms, total=176.6ms	[env.py: 1075]
+05/11 01:54:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.615, 0.630, 0.081)	[env.py: 1079]
+05/11 01:54:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -172.0 deg	[env.py: 1082]
+05/11 01:54:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.098m	[env.py: 1086]
+05/11 01:54:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 01:54:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 01:54:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 01:54:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 01:54:04 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 01:54:04 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/11 01:54:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.122s	[base_object_manipulation_planner_policy.py: 377]
+05/11 01:54:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 01:54:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 01:54:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 01:54:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.495s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 01:54:05 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.667[m] 85.913[deg]	[grasp_sample.py: 539]
+05/11 01:54:06 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 01:54:06 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.394s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 01:54:06 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.641[m] 87.153[deg]	[grasp_sample.py: 539]
+05/11 01:54:06 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 01:54:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 01:54:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 01:54:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 01:54:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 01:54:06 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 01:54:07 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 01:54:07 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 01:54:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 01:54:17 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 01:54:17 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 14.18s (batch: 3.66s, save: 10.53s)	[pipeline.py: 300]
+05/11 01:54:18 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.71s:
+  episode_total: mean=164.61s, total=329.22s, count=2, min=160140.4ms, max=169080.6ms
+  sensor_polling: mean=398.7ms, total=234.46s, count=588, min=297.2ms, max=778.3ms
+  physics_step: mean=21.6ms, total=12.68s, count=588, min=12.2ms, max=48.2ms
+  save_trajectories: mean=10.53s, total=10.53s, count=1, min=10525.3ms, max=10525.3ms
+  save_batch_prep: mean=3.66s, total=3.66s, count=1, min=3657.6ms, max=3657.6ms
+  task_sampling: mean=357.1ms, total=714.1ms, count=2, min=288.5ms, max=425.6ms
+  task_specific_sample: mean=353.6ms, total=707.1ms, count=2, min=284.9ms, max=422.2ms
+  scene_randomize: mean=2.0ms, total=3.9ms, count=2, min=1.6ms, max=2.3ms
+  mj_forward_sync: mean=408.7us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=21.5us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 01:54:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 01:54:19 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 01:54:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 01:54:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 01:54:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 01:54:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 01:54:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 01:54:19 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 01:54:19 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]
+05/11 01:54:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 01:54:19 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]
+05/11 01:54:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 01:54:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 01:54:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.043809m	[env.py: 870]
+05/11 01:54:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 01:54:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 01:54:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 01:54:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -166.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 01:54:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 107.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 01:54:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 83.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 01:54:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 115.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 01:54:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.98056885  0.265361    0.04380857] yaw=165.4deg	[env.py: 1019]
+05/11 01:54:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 01:54:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.85146459  0.94853932  0.04380857] yaw=-145.4deg	[env.py: 1019]
+05/11 01:54:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 01:54:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.62864314  0.58568351  0.04380857] yaw=-164.0deg	[env.py: 1019]
+05/11 01:54:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 01:54:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 01:54:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=199.0ms, total=199.0ms	[env.py: 1075]
+05/11 01:54:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.981, 0.265, 0.044)	[env.py: 1079]
+05/11 01:54:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 165.4 deg	[env.py: 1082]
+05/11 01:54:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.754m	[env.py: 1086]
+05/11 01:54:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 01:54:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 01:54:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 01:54:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 01:54:20 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 01:54:20 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/11 01:54:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.108s	[base_object_manipulation_planner_policy.py: 377]
+05/11 01:54:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 01:54:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 01:54:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 01:54:20 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.675s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 01:54:20 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.325[m] 91.570[deg]	[grasp_sample.py: 539]
+05/11 01:54:20 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 01:54:21 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 01:54:21 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 01:54:21 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 01:54:31 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 01:54:32 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/11 01:54:32 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 01:54:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 01:54:46 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 01:54:46 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 14.58s (batch: 4.10s, save: 10.48s)	[pipeline.py: 300]
+05/11 01:54:47 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.44s:
+  episode_total: mean=164.73s, total=164.73s, count=1, min=164734.0ms, max=164734.0ms
+  sensor_polling: mean=381.4ms, total=114.41s, count=300, min=297.1ms, max=686.5ms
+  save_trajectories: mean=10.48s, total=10.48s, count=1, min=10484.2ms, max=10484.2ms
+  physics_step: mean=22.0ms, total=6.60s, count=300, min=17.5ms, max=27.4ms
+  save_batch_prep: mean=4.10s, total=4.10s, count=1, min=4098.1ms, max=4098.1ms
+  task_sampling: mean=436.4ms, total=436.4ms, count=1, min=436.4ms, max=436.4ms
+  task_specific_sample: mean=432.7ms, total=432.7ms, count=1, min=432.7ms, max=432.7ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=424.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=18.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 01:54:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 01:54:48 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 01:54:48 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 01:54:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 01:54:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 01:54:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 01:54:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 01:54:48 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 01:54:48 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]
+05/11 01:54:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 01:54:48 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]
+05/11 01:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 01:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 01:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.042530m	[env.py: 870]
+05/11 01:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 01:54:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 01:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 01:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.78747141  0.05289016  0.04253044] yaw=159.6deg	[env.py: 1019]
+05/11 01:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 01:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -32.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 01:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.76454337  0.17662944  0.04253044] yaw=155.8deg	[env.py: 1019]
+05/11 01:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 01:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -48.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 01:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 84.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 01:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.06651156  1.0423625   0.04253044] yaw=-136.2deg	[env.py: 1019]
+05/11 01:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 01:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 01:54:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=138.3ms, total=138.3ms	[env.py: 1075]
+05/11 01:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.787, 0.053, 0.043)	[env.py: 1079]
+05/11 01:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 159.6 deg	[env.py: 1082]
+05/11 01:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.011m	[env.py: 1086]
+05/11 01:54:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 01:54:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 01:54:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 01:54:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 01:54:49 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 01:54:49 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/11 01:54:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.096s	[base_object_manipulation_planner_policy.py: 377]
+05/11 01:54:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 01:54:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 01:54:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 01:54:50 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.589s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 01:54:50 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.578[m] 94.148[deg]	[grasp_sample.py: 539]
+05/11 01:54:50 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 01:54:51 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 01:54:51 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 01:54:51 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 01:54:51 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 01:54:58 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 01:54:59 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 01:55:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 01:55:05 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 01:55:05 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 01:55:09 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 01:55:10 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 01:55:13 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 01:55:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:55:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:55:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:55:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:55:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:55:40 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 01:55:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:55:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:55:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:55:44 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 01:55:44 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 01:55:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 01:55:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 01:55:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/11 01:55:45 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.430s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 01:55:45 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.579[deg]	[grasp_sample.py: 539]
+05/11 01:55:46 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 01:55:46 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 01:55:46 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 01:55:47 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 01:55:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:55:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:55:51 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 01:55:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:55:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:55:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:55:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:55:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:55:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:55:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:55:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:55:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:55:59 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 01:55:59 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 01:55:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 01:55:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 01:55:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/11 01:56:00 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.585s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 01:56:00 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.566[deg]	[grasp_sample.py: 539]
+05/11 01:56:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:56:01 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 01:56:01 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 01:56:01 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 01:56:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:56:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:56:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:56:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:56:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:56:06 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 01:56:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:56:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:56:07 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 01:56:07 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 01:56:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 01:56:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 01:56:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 86 non-colliding grasps	[grasp_sample.py: 465]
+05/11 01:56:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:56:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:56:09 INFO: [Worker 0] Feasibility-checked 86 grasps in 1.969s, found feasible grasp: False	[grasp_sample.py: 500]
+05/11 01:56:09 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/11 01:56:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:56:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:56:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 01:56:12 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 01:56:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 01:56:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 01:56:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 01:56:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 01:56:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 01:56:12 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 01:56:12 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]
+05/11 01:56:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 01:56:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.023m, effective arm-mount z=0.883m (base_body_z=0.023m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 01:56:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 01:56:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 01:56:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.023480m	[env.py: 870]
+05/11 01:56:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 01:56:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 01:56:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 01:56:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 124.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 01:56:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.74693357  0.4817021   0.02348039] yaw=185.7deg	[env.py: 1019]
+05/11 01:56:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 01:56:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -43.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 01:56:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 157.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 01:56:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -32.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 01:56:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.68292402  0.66625191  0.02348039] yaw=-162.0deg	[env.py: 1019]
+05/11 01:56:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 01:56:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.89784596  0.94638634  0.02348039] yaw=-145.1deg	[env.py: 1019]
+05/11 01:56:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 01:56:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 01:56:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=199.3ms, total=199.4ms	[env.py: 1075]
+05/11 01:56:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.747, 0.482, 0.023)	[env.py: 1079]
+05/11 01:56:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 185.7 deg	[env.py: 1082]
+05/11 01:56:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.955m	[env.py: 1086]
+05/11 01:56:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 01:56:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 01:56:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 01:56:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 01:56:12 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 01:56:12 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/11 01:56:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.109s	[base_object_manipulation_planner_policy.py: 377]
+05/11 01:56:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 01:56:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 01:56:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 01:56:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:56:13 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 01:56:13 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 01:56:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 01:56:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 01:56:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.062s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/11 01:56:13 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.601s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 01:56:13 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.566[deg]	[grasp_sample.py: 539]
+05/11 01:56:14 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.152s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 01:56:14 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.510[m] 87.577[deg]	[grasp_sample.py: 539]
+05/11 01:56:14 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 01:56:14 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 01:56:14 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 01:56:14 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 01:56:14 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 01:56:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 01:56:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 01:56:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:56:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:56:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:56:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:56:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:56:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:56:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:56:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:56:28 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 01:56:28 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/11 01:56:28 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/11 01:56:28 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=False episode_total=0.48s:
+  episode_total: mean=128.89s, total=128.89s, count=1, min=128894.2ms, max=128894.2ms
+  sensor_polling: mean=455.5ms, total=80.63s, count=177, min=328.6ms, max=855.9ms
+  physics_step: mean=23.4ms, total=4.14s, count=177, min=11.7ms, max=55.9ms
+  task_sampling: mean=477.6ms, total=477.6ms, count=1, min=477.6ms, max=477.6ms
+  task_specific_sample: mean=473.5ms, total=473.5ms, count=1, min=473.5ms, max=473.5ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=560.4us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=21.5us, 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]
+05/11 01:56:28 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 01:56:28 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/11 01:56:28 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 01:56:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 01:56:29 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 01:56:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 01:56:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 01:56:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 01:56:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 01:56:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 01:56:29 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 01:56:29 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]
+05/11 01:56:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 01:56:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.015m, effective arm-mount z=0.875m (base_body_z=0.015m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 01:56:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 01:56:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 01:56:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.014701m	[env.py: 870]
+05/11 01:56:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 01:56:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 01:56:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 01:56:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.03512859  1.30800435  0.01470111] yaw=-138.0deg	[env.py: 1019]
+05/11 01:56:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 01:56:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 67.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 01:56:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -69.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 01:56:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.97449648  1.01385095  0.01470111] yaw=-136.0deg	[env.py: 1019]
+05/11 01:56:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 01:56:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.83414011  0.80542959  0.01470111] yaw=-166.5deg	[env.py: 1019]
+05/11 01:56:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 01:56:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 01:56:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=109.4ms, total=109.5ms	[env.py: 1075]
+05/11 01:56:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.035, 1.308, 0.015)	[env.py: 1079]
+05/11 01:56:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -138.0 deg	[env.py: 1082]
+05/11 01:56:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.062m	[env.py: 1086]
+05/11 01:56:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 01:56:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 01:56:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 01:56:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 01:56:30 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 01:56:30 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/11 01:56:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s	[base_object_manipulation_planner_policy.py: 377]
+05/11 01:56:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 01:56:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 01:56:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 01:56:32 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.470s, found feasible grasp: False	[grasp_sample.py: 500]
+05/11 01:56:32 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/11 01:56:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 01:56:35 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 01:56:35 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 01:56:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 01:56:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 01:56:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 01:56:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 01:56:35 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 01:56:35 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]
+05/11 01:56:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 01:56:35 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]
+05/11 01:56:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 01:56:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 01:56:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.080684m	[env.py: 870]
+05/11 01:56:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 01:56:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 01:56:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 01:56:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 79.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 01:56:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.005573    0.82412935  0.08068365] yaw=-147.0deg	[env.py: 1019]
+05/11 01:56:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 01:56:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.80881921  0.58269838  0.08068365] yaw=-167.7deg	[env.py: 1019]
+05/11 01:56:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 01:56:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -40.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 01:56:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.97307405  0.18675986  0.08068365] yaw=153.8deg	[env.py: 1019]
+05/11 01:56:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 01:56:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 01:56:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=99.5ms, total=99.6ms	[env.py: 1075]
+05/11 01:56:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.006, 0.824, 0.081)	[env.py: 1079]
+05/11 01:56:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -147.0 deg	[env.py: 1082]
+05/11 01:56:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.776m	[env.py: 1086]
+05/11 01:56:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 01:56:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 01:56:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 01:56:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 01:56:35 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 01:56:35 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/11 01:56:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s	[base_object_manipulation_planner_policy.py: 377]
+05/11 01:56:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 01:56:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 01:56:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 01:56:36 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.745s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 01:56:36 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.338[m] 85.772[deg]	[grasp_sample.py: 539]
+05/11 01:56:36 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 01:56:37 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 01:56:37 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 01:56:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 01:56:43 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 01:56:43 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 14.44s (batch: 5.07s, save: 9.36s)	[pipeline.py: 300]
+05/11 01:56:43 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.55s:
+  episode_total: mean=160.15s, total=160.15s, count=1, min=160147.2ms, max=160147.2ms
+  sensor_polling: mean=371.6ms, total=111.49s, count=300, min=299.2ms, max=637.1ms
+  save_trajectories: mean=9.36s, total=9.36s, count=1, min=9361.2ms, max=9361.2ms
+  physics_step: mean=21.0ms, total=6.31s, count=300, min=14.0ms, max=29.5ms
+  save_batch_prep: mean=5.07s, total=5.07s, count=1, min=5074.2ms, max=5074.2ms
+  task_sampling: mean=551.6ms, total=551.6ms, count=1, min=551.6ms, max=551.6ms
+  task_specific_sample: mean=547.5ms, total=547.5ms, count=1, min=547.5ms, max=547.5ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=585.3us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=19.3us, 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]
+05/11 01:56:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 01:56:45 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 01:56:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 01:56:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 01:56:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 01:56:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 01:56:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 01:56:45 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 01:56:45 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]
+05/11 01:56:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 01:56:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.036m, effective arm-mount z=0.896m (base_body_z=0.036m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 01:56:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 01:56:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 01:56:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.036026m	[env.py: 870]
+05/11 01:56:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 01:56:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 01:56:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 01:56:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.23342951  1.06862268  0.03602572] yaw=-139.5deg	[env.py: 1019]
+05/11 01:56:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 01:56:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 109.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 01:56:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -51.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 01:56:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 174.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 01:56:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 110.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 01:56:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.03163452  1.132227    0.03602572] yaw=-138.7deg	[env.py: 1019]
+05/11 01:56:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 01:56:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.09258665  0.95980908  0.03602572] yaw=-149.1deg	[env.py: 1019]
+05/11 01:56:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 01:56:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 01:56:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=161.7ms, total=161.7ms	[env.py: 1075]
+05/11 01:56:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.233, 1.069, 0.036)	[env.py: 1079]
+05/11 01:56:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -139.5 deg	[env.py: 1082]
+05/11 01:56:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.751m	[env.py: 1086]
+05/11 01:56:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 01:56:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 01:56:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 01:56:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 01:56:46 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 01:56:46 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/11 01:56:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s	[base_object_manipulation_planner_policy.py: 377]
+05/11 01:56:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 01:56:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 01:56:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 01:56:46 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.414s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 01:56:46 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.357[m] 88.655[deg]	[grasp_sample.py: 539]
+05/11 01:56:46 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 01:56:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 01:56:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 01:56:55 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 01:56:59 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 01:57:04 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 01:57:07 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 01:57:11 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 01:57:12 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 01:57:14 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 01:57:15 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 01:57:18 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 01:57:18 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/11 01:57:18 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 01:57:22 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 01:57:26 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 01:57:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 01:57:31 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 01:57:31 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 12.64s (batch: 4.00s, save: 8.64s)	[pipeline.py: 300]
+05/11 01:57:32 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.36s:
+  episode_total: mean=163.34s, total=163.34s, count=1, min=163344.1ms, max=163344.1ms
+  sensor_polling: mean=383.8ms, total=115.14s, count=300, min=297.2ms, max=723.9ms
+  save_trajectories: mean=8.64s, total=8.64s, count=1, min=8643.7ms, max=8643.7ms
+  physics_step: mean=22.8ms, total=6.83s, count=300, min=17.2ms, max=57.8ms
+  save_batch_prep: mean=4.00s, total=4.00s, count=1, min=3998.0ms, max=3998.0ms
+  task_sampling: mean=355.2ms, total=355.2ms, count=1, min=355.2ms, max=355.2ms
+  task_specific_sample: mean=351.8ms, total=351.8ms, count=1, min=351.8ms, max=351.8ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=338.8us, total=0.3ms, count=1, min=0.3ms, max=0.3ms
+  policy_setup: mean=20.7us, 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]
+05/11 01:57:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 01:57:33 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 01:57:33 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 01:57:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 01:57:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 01:57:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 01:57:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 01:57:33 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 01:57:33 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 01:57:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 01:57:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.030m, effective arm-mount z=0.890m (base_body_z=0.030m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 01:57:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 01:57:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 01:57:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.029924m	[env.py: 870]
+05/11 01:57:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 01:57:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 01:57:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 01:57:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 107.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 01:57:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -53.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 01:57:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 129.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 01:57:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -178.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 01:57:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.01789593  1.26961061  0.02992395] yaw=-121.6deg	[env.py: 1019]
+05/11 01:57:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 01:57:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.20643888  1.08484487  0.02992395] yaw=-125.4deg	[env.py: 1019]
+05/11 01:57:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 01:57:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.81613742  0.3464109   0.02992395] yaw=176.9deg	[env.py: 1019]
+05/11 01:57:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 01:57:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 01:57:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=218.8ms, total=218.8ms	[env.py: 1075]
+05/11 01:57:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.018, 1.270, 0.030)	[env.py: 1079]
+05/11 01:57:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -121.6 deg	[env.py: 1082]
+05/11 01:57:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.043m	[env.py: 1086]
+05/11 01:57:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 01:57:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 01:57:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 01:57:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 01:57:33 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 01:57:33 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/11 01:57:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s	[base_object_manipulation_planner_policy.py: 377]
+05/11 01:57:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 01:57:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 01:57:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.062s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 01:57:36 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.954s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 01:57:36 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.628[m] 90.532[deg]	[grasp_sample.py: 539]
+05/11 01:57:36 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 01:57:36 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 01:57:36 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 01:58:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:58:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:58:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:58:29 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 01:58:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:58:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:58:32 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 01:58:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:58:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:58:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:58:35 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 01:58:35 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 01:58:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 01:58:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 01:58:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/11 01:58:37 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 01:58:37 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.840s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 01:58:37 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.368[deg]	[grasp_sample.py: 539]
+05/11 01:58:38 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 01:58:40 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 01:58:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 01:58:41 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 01:58:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 01:58:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 01:58:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 01:58:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 01:58:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 01:58:41 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 01:58:41 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 01:58:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 01:58:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.059m, effective arm-mount z=0.919m (base_body_z=0.059m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 01:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 01:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 01:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.059324m	[env.py: 870]
+05/11 01:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 01:58:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 01:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 01:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.94148618  0.10699677  0.05932426] yaw=161.4deg	[env.py: 1019]
+05/11 01:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 01:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 123.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 01:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -47.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 01:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 108.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 01:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -31.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 01:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.65803593  0.51995924  0.05932426] yaw=-172.3deg	[env.py: 1019]
+05/11 01:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 01:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 01:58:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=277.3ms, total=277.4ms	[env.py: 1075]
+05/11 01:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.941, 0.107, 0.059)	[env.py: 1079]
+05/11 01:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 161.4 deg	[env.py: 1082]
+05/11 01:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.848m	[env.py: 1086]
+05/11 01:58:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 01:58:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 01:58:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 01:58:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 01:58:41 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 01:58:41 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/11 01:58:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.152s	[base_object_manipulation_planner_policy.py: 377]
+05/11 01:58:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 01:58:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 01:58:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 01:58:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.644s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 01:58:42 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.456[m] 101.901[deg]	[grasp_sample.py: 539]
+05/11 01:58:42 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 01:58:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 01:58:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 01:58:43 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 01:58:44 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 01:58:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:58:56 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 01:58:56 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/11 01:58:56 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 01:58:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:58:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:59:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:59:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:59:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:59:04 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/11 01:59:04 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 01:59:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 01:59:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 01:59:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 84 non-colliding grasps	[grasp_sample.py: 465]
+05/11 01:59:06 INFO: [Worker 0] Feasibility-checked 84 grasps in 1.956s, found feasible grasp: False	[grasp_sample.py: 500]
+05/11 01:59:06 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/11 01:59:06 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 01:59:06 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/11 01:59:06 INFO: [Worker 0] Preparing episode data: 290 timesteps	[save_utils.py: 278]
+05/11 01:59:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 01:59:07 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 01:59:07 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 01:59:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 01:59:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 01:59:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 01:59:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 01:59:07 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 01:59:07 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]
+05/11 01:59:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 01:59:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.082m, effective arm-mount z=0.942m (base_body_z=0.082m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 01:59:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 01:59:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 01:59:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.082324m	[env.py: 870]
+05/11 01:59:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 01:59:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 01:59:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 01:59:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 88.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 01:59:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.84528406  0.89200565  0.08232386] yaw=-154.8deg	[env.py: 1019]
+05/11 01:59:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 01:59:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.77988172  0.34774438  0.08232386] yaw=167.0deg	[env.py: 1019]
+05/11 01:59:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 01:59:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 59.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 01:59:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -56.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 01:59:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 01:59:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=179.4ms, total=179.4ms	[env.py: 1075]
+05/11 01:59:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.845, 0.892, 0.082)	[env.py: 1079]
+05/11 01:59:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -154.8 deg	[env.py: 1082]
+05/11 01:59:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.950m	[env.py: 1086]
+05/11 01:59:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 01:59:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 01:59:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 01:59:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 01:59:08 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 01:59:08 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/11 01:59:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s	[base_object_manipulation_planner_policy.py: 377]
+05/11 01:59:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 01:59:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 01:59:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 01:59:08 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.528s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 01:59:08 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.524[m] 95.511[deg]	[grasp_sample.py: 539]
+05/11 01:59:08 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 01:59:09 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 01:59:09 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 01:59:09 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 01:59:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 01:59:09 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 01:59:09 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 13.34s (batch: 4.08s, save: 9.26s)	[pipeline.py: 300]
+05/11 01:59:10 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=1.34s:
+  episode_total: mean=142.22s, total=426.67s, count=3, min=122429.9ms, max=177946.7ms
+  sensor_polling: mean=418.3ms, total=333.37s, count=797, min=300.9ms, max=740.1ms
+  physics_step: mean=22.8ms, total=18.14s, count=797, min=17.0ms, max=49.7ms
+  save_trajectories: mean=9.26s, total=9.26s, count=1, min=9263.1ms, max=9263.1ms
+  save_batch_prep: mean=4.08s, total=4.08s, count=1, min=4080.1ms, max=4080.1ms
+  task_sampling: mean=446.1ms, total=1.34s, count=3, min=405.0ms, max=512.6ms
+  task_specific_sample: mean=439.7ms, total=1.32s, count=3, min=402.0ms, max=503.8ms
+  scene_randomize: mean=2.9ms, total=8.7ms, count=3, min=1.2ms, max=5.4ms
+  mj_forward_sync: mean=417.3us, total=1.3ms, count=3, min=0.4ms, max=0.5ms
+  policy_setup: mean=20.6us, 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]
+05/11 01:59:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 01:59:11 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 01:59:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 01:59:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 01:59:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 01:59:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 01:59:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 01:59:11 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 01:59:11 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]
+05/11 01:59:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 01:59:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.084m, effective arm-mount z=0.944m (base_body_z=0.084m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 01:59:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 01:59:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 01:59:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.084369m	[env.py: 870]
+05/11 01:59:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 01:59:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 01:59:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 01:59:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 98.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 01:59:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.89427241  0.19407168  0.08436913] yaw=170.5deg	[env.py: 1019]
+05/11 01:59:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 01:59:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 85.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 01:59:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -76.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 01:59:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -54.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 01:59:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.93567278  0.9838027   0.08436913] yaw=-140.2deg	[env.py: 1019]
+05/11 01:59:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 01:59:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 01:59:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=158.9ms, total=158.9ms	[env.py: 1075]
+05/11 01:59:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.894, 0.194, 0.084)	[env.py: 1079]
+05/11 01:59:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 170.5 deg	[env.py: 1082]
+05/11 01:59:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.858m	[env.py: 1086]
+05/11 01:59:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 01:59:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 01:59:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 01:59:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 01:59:11 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 01:59:11 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/11 01:59:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.143s	[base_object_manipulation_planner_policy.py: 377]
+05/11 01:59:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 01:59:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 01:59:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 01:59:13 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.997s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 01:59:13 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.428[m] 89.783[deg]	[grasp_sample.py: 539]
+05/11 01:59:13 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 01:59:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 01:59:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 01:59:13 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 01:59:19 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 01:59:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 01:59:19 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 01:59:19 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 12.70s (batch: 3.70s, save: 9.00s)	[pipeline.py: 300]
+05/11 01:59:19 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.70s:
+  episode_total: mean=83.69s, total=167.38s, count=2, min=3015.0ms, max=164367.2ms
+  sensor_polling: mean=410.2ms, total=118.55s, count=289, min=290.9ms, max=791.2ms
+  save_trajectories: mean=9.00s, total=9.00s, count=1, min=9002.1ms, max=9002.1ms
+  physics_step: mean=21.8ms, total=6.30s, count=289, min=14.2ms, max=29.8ms
+  save_batch_prep: mean=3.70s, total=3.70s, count=1, min=3698.2ms, max=3698.2ms
+  task_sampling: mean=350.4ms, total=700.9ms, count=2, min=349.8ms, max=351.1ms
+  task_specific_sample: mean=346.2ms, total=692.5ms, count=2, min=346.0ms, max=346.5ms
+  scene_randomize: mean=1.7ms, total=3.3ms, count=2, min=1.1ms, max=2.2ms
+  mj_forward_sync: mean=499.0us, total=1.0ms, count=2, min=0.4ms, max=0.6ms
+  policy_setup: mean=17.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 01:59:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 01:59:21 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 01:59:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 01:59:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 01:59:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 01:59:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 01:59:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 01:59:21 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 01:59:21 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]
+05/11 01:59:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 01:59:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.006m, effective arm-mount z=0.866m (base_body_z=0.006m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 01:59:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 01:59:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 01:59:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.005663m	[env.py: 870]
+05/11 01:59:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 01:59:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 01:59:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 01:59:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 161.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 01:59:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.86524253  0.1417521   0.00566334] yaw=155.5deg	[env.py: 1019]
+05/11 01:59:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 01:59:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 81.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 01:59:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -44.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 01:59:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.84822192  0.52300389  0.00566334] yaw=-171.6deg	[env.py: 1019]
+05/11 01:59:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 01:59:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.88470485  0.90416177  0.00566334] yaw=-146.4deg	[env.py: 1019]
+05/11 01:59:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 01:59:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 01:59:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=148.9ms, total=148.9ms	[env.py: 1075]
+05/11 01:59:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.865, 0.142, 0.006)	[env.py: 1079]
+05/11 01:59:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 155.5 deg	[env.py: 1082]
+05/11 01:59:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.904m	[env.py: 1086]
+05/11 01:59:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 01:59:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 01:59:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 01:59:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 01:59:21 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 01:59:21 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/11 01:59:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s	[base_object_manipulation_planner_policy.py: 377]
+05/11 01:59:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 01:59:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 01:59:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 01:59:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.606s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 01:59:22 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.496[m] 98.847[deg]	[grasp_sample.py: 539]
+05/11 01:59:22 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 01:59:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 01:59:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 01:59:23 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 01:59:27 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 01:59:30 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 01:59:49 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 01:59:52 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 01:59:58 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 02:00:00 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 02:00:02 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:00:04 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:00:09 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:00:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:00:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:00:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:00:17 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 02:00:21 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:00:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:00:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:00:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:00:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:00:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:00:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:00:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:00:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:00:35 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 02:00:35 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 02:00:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 02:00:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 02:00:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/11 02:00:36 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.494s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 02:00:36 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.029[m] 0.487[deg]	[grasp_sample.py: 539]
+05/11 02:00:37 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 02:00:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 02:00:39 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 02:00:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 02:00:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 02:00:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 02:00:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 02:00:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 02:00:39 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 02:00:39 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]
+05/11 02:00:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 02:00:39 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]
+05/11 02:00:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 02:00:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 02:00:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.077430m	[env.py: 870]
+05/11 02:00:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 02:00:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 02:00:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 02:00:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 88.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 02:00:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -69.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 02:00:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 85.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 02:00:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 68.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 02:00:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 113.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 02:00:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.85436817  0.43240944  0.07742974] yaw=171.1deg	[env.py: 1019]
+05/11 02:00:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 02:00:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 02:00:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=241.1ms, total=241.2ms	[env.py: 1075]
+05/11 02:00:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.854, 0.432, 0.077)	[env.py: 1079]
+05/11 02:00:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 171.1 deg	[env.py: 1082]
+05/11 02:00:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.849m	[env.py: 1086]
+05/11 02:00:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 02:00:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 02:00:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 02:00:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 02:00:39 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 02:00:39 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/11 02:00:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.056s	[base_object_manipulation_planner_policy.py: 377]
+05/11 02:00:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 02:00:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 02:00:40 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 02:00:40 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.424s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 02:00:40 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.391[m] 84.121[deg]	[grasp_sample.py: 539]
+05/11 02:00:40 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 02:00:40 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 02:00:40 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:00:41 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 02:00:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:00:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:00:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:00:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:00:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:00:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:00:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:00:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:00:57 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 02:00:57 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 02:00:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 02:00:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 02:00:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.082s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/11 02:00:57 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.412s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 02:00:57 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.618[deg]	[grasp_sample.py: 539]
+05/11 02:00:58 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 02:00:59 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 02:00:59 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:01:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:9	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:01:00 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 02:01:00 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 02:01:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 02:01:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 02:01:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.065s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/11 02:01:00 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.426s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 02:01:00 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.627[deg]	[grasp_sample.py: 539]
+05/11 02:01:01 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 02:01:02 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 02:01:02 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:01:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:10	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:01:02 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 02:01:02 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 02:01:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 02:01:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 02:01:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.063s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/11 02:01:03 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.349s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 02:01:03 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.631[deg]	[grasp_sample.py: 539]
+05/11 02:01:04 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 02:01:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 02:01:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:01:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:01:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:01:08 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 02:01:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:01:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:01:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:01:12 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:01:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:01:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:01:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:01:15 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 02:01:15 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/11 02:01:15 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/11 02:01:16 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=False episode_total=0.37s:
+  episode_total: mean=124.52s, total=124.52s, count=1, min=124515.1ms, max=124515.1ms
+  sensor_polling: mean=425.3ms, total=94.41s, count=222, min=320.1ms, max=762.5ms
+  physics_step: mean=22.7ms, total=5.04s, count=222, min=12.3ms, max=33.9ms
+  task_sampling: mean=370.7ms, total=370.7ms, count=1, min=370.7ms, max=370.7ms
+  task_specific_sample: mean=366.5ms, total=366.5ms, count=1, min=366.5ms, max=366.5ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=365.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=18.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 02:01:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 02:01:18 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 02:01:18 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 02:01:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 02:01:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 02:01:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 02:01:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 02:01:18 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 02:01:18 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]
+05/11 02:01:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 02:01:18 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]
+05/11 02:01:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 02:01:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 02:01:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.042817m	[env.py: 870]
+05/11 02:01:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 02:01:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 02:01:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 02:01:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -61.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 02:01:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -36.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 02:01:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.12967638  1.17117233  0.04281664] yaw=-118.9deg	[env.py: 1019]
+05/11 02:01:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 02:01:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 84.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 02:01:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.86543895  0.99941775  0.04281664] yaw=-151.6deg	[env.py: 1019]
+05/11 02:01:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 02:01:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.14813107  1.10866617  0.04281664] yaw=-130.7deg	[env.py: 1019]
+05/11 02:01:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 02:01:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 02:01:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=127.6ms, total=127.7ms	[env.py: 1075]
+05/11 02:01:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.130, 1.171, 0.043)	[env.py: 1079]
+05/11 02:01:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -118.9 deg	[env.py: 1082]
+05/11 02:01:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.896m	[env.py: 1086]
+05/11 02:01:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 02:01:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 02:01:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 02:01:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 02:01:18 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 02:01:18 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 02:01:18 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/11 02:01:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.091s	[base_object_manipulation_planner_policy.py: 377]
+05/11 02:01:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 02:01:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 02:01:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 02:01:21 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.759s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 02:01:21 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.507[m] 88.269[deg]	[grasp_sample.py: 539]
+05/11 02:01:21 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 02:01:21 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:01:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 02:01:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:01:22 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 02:01:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:01:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:01:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:01:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:01:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:01:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:01:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:01:32 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 02:01:32 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/11 02:01:32 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 02:01:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:01:33 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 02:01:33 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 02:01:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 02:01:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 02:01:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/11 02:01:34 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.500s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 02:01:34 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.163[deg]	[grasp_sample.py: 539]
+05/11 02:01:35 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 02:01:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 02:01:36 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 02:01:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 02:01:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 02:01:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 02:01:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 02:01:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 02:01:36 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 02:01:36 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 02:01:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 02:01:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.024m, effective arm-mount z=0.884m (base_body_z=0.024m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 02:01:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 02:01:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 02:01:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.024000m	[env.py: 870]
+05/11 02:01:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 02:01:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 02:01:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 02:01:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.72593959  0.76870881  0.02400034] yaw=-175.0deg	[env.py: 1019]
+05/11 02:01:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 02:01:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -63.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 02:01:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.00653618  1.01440393  0.02400034] yaw=-138.3deg	[env.py: 1019]
+05/11 02:01:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 02:01:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 95.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 02:01:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 92.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 02:01:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.7169154   0.13605999  0.02400034] yaw=156.7deg	[env.py: 1019]
+05/11 02:01:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 02:01:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 02:01:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=167.2ms, total=167.3ms	[env.py: 1075]
+05/11 02:01:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.726, 0.769, 0.024)	[env.py: 1079]
+05/11 02:01:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -175.0 deg	[env.py: 1082]
+05/11 02:01:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.018m	[env.py: 1086]
+05/11 02:01:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 02:01:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 02:01:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 02:01:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 02:01:36 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 02:01:36 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/11 02:01:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s	[base_object_manipulation_planner_policy.py: 377]
+05/11 02:01:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 02:01:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 02:01:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.062s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 02:01:38 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.902s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 02:01:38 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.562[m] 81.783[deg]	[grasp_sample.py: 539]
+05/11 02:01:39 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 02:01:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 02:01:41 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 02:01:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 02:01:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 02:01:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 02:01:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 02:01:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 02:01:41 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 02:01:41 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 02:01:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 02:01:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.021m, effective arm-mount z=0.881m (base_body_z=0.021m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 02:01:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 02:01:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 02:01:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.020569m	[env.py: 870]
+05/11 02:01:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 02:01:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 02:01:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 02:01:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.72466891  0.83436775  0.02056889] yaw=-151.1deg	[env.py: 1019]
+05/11 02:01:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 02:01:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 115.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 02:01:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 178.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 02:01:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -166.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 02:01:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -56.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 02:01:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.73472179  0.50184971  0.02056889] yaw=-168.3deg	[env.py: 1019]
+05/11 02:01:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 02:01:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 02:01:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=230.5ms, total=230.6ms	[env.py: 1075]
+05/11 02:01:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.725, 0.834, 0.021)	[env.py: 1079]
+05/11 02:01:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -151.1 deg	[env.py: 1082]
+05/11 02:01:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.039m	[env.py: 1086]
+05/11 02:01:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 02:01:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 02:01:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 02:01:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 02:01:41 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 02:01:41 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/11 02:01:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s	[base_object_manipulation_planner_policy.py: 377]
+05/11 02:01:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 02:01:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 02:01:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 02:01:43 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.407s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 02:01:43 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.605[m] 84.907[deg]	[grasp_sample.py: 539]
+05/11 02:01:43 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 02:01:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 02:01:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:01:43 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 02:01:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 02:01:45 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 02:01:45 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 13.17s (batch: 3.52s, save: 9.64s)	[pipeline.py: 300]
+05/11 02:01:46 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.89s:
+  episode_total: mean=125.64s, total=251.29s, count=2, min=92871.2ms, max=158417.9ms
+  sensor_polling: mean=375.7ms, total=185.60s, count=494, min=296.0ms, max=726.8ms
+  physics_step: mean=21.4ms, total=10.55s, count=494, min=13.4ms, max=57.1ms
+  save_trajectories: mean=9.64s, total=9.64s, count=1, min=9643.6ms, max=9643.6ms
+  save_batch_prep: mean=3.52s, total=3.52s, count=1, min=3524.5ms, max=3524.5ms
+  task_sampling: mean=447.4ms, total=894.8ms, count=2, min=390.0ms, max=504.9ms
+  task_specific_sample: mean=442.9ms, total=885.8ms, count=2, min=385.4ms, max=500.4ms
+  scene_randomize: mean=2.3ms, total=4.6ms, count=2, min=1.6ms, max=3.0ms
+  mj_forward_sync: mean=448.1us, total=0.9ms, count=2, min=0.3ms, max=0.6ms
+  policy_setup: mean=20.6us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 02:01:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 02:01:49 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 02:01:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 02:01:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 02:01:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 02:01:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 02:01:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 02:01:49 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 02:01:49 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]
+05/11 02:01:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 02:01:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.082m, effective arm-mount z=0.942m (base_body_z=0.082m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 02:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 02:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 02:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.081648m	[env.py: 870]
+05/11 02:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 02:01:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 02:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 02:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 174.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 02:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.85386579  0.07119982  0.08164775] yaw=150.4deg	[env.py: 1019]
+05/11 02:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 02:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -152.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 02:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -32.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 02:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 169.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 02:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.98615183  0.72730964  0.08164775] yaw=-162.5deg	[env.py: 1019]
+05/11 02:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 02:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.74719889  0.713435    0.08164775] yaw=-176.2deg	[env.py: 1019]
+05/11 02:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 02:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 02:01:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=178.3ms, total=178.4ms	[env.py: 1075]
+05/11 02:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.854, 0.071, 0.082)	[env.py: 1079]
+05/11 02:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 150.4 deg	[env.py: 1082]
+05/11 02:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.943m	[env.py: 1086]
+05/11 02:01:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 02:01:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 02:01:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 02:01:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 02:01:49 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 02:01:49 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/11 02:01:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s	[base_object_manipulation_planner_policy.py: 377]
+05/11 02:01:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 02:01:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 02:01:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.062s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 02:01:50 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.534s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 02:01:50 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.514[m] 96.354[deg]	[grasp_sample.py: 539]
+05/11 02:01:50 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 02:01:51 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 02:01:51 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:01:51 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 02:02:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:02:02 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:02:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:02:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:02:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:02:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:02:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:02:10 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 02:02:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:02:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:02:12 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 02:02:12 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 02:02:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 02:02:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 02:02:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.081s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/11 02:02:13 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.501s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 02:02:13 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.652[deg]	[grasp_sample.py: 539]
+05/11 02:02:13 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 02:02:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 02:02:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:02:13 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:02:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:9	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:02:14 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 02:02:14 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 02:02:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 02:02:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 02:02:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/11 02:02:14 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.438s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 02:02:14 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.631[deg]	[grasp_sample.py: 539]
+05/11 02:02:14 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 02:02:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 02:02:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:02:20 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:02:27 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 02:02:30 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:02:32 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:02:33 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:02:39 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/11 02:02:39 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 02:02:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 02:02:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 02:02:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.063s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/11 02:02:39 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 02:02:39 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.517s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 02:02:39 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.115[m] 2.555[deg]	[grasp_sample.py: 539]
+05/11 02:02:39 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 02:02:40 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 02:02:40 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:02:41 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 02:02:43 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:02:45 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:02:49 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 02:02:50 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:02:57 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 02:03:01 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:03:11 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 02:03:11 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/11 02:03:11 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 02:03:24 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 02:03:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 02:03:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 02:03:24 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 12.74s (batch: 4.28s, save: 8.46s)	[pipeline.py: 300]
+05/11 02:03:25 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=1.43s:
+  episode_total: mean=131.60s, total=394.81s, count=3, min=113044.3ms, max=165494.2ms
+  sensor_polling: mean=377.6ms, total=288.85s, count=765, min=291.7ms, max=651.8ms
+  physics_step: mean=21.8ms, total=16.70s, count=765, min=14.1ms, max=87.6ms
+  save_trajectories: mean=8.46s, total=8.46s, count=1, min=8455.3ms, max=8455.3ms
+  save_batch_prep: mean=4.28s, total=4.28s, count=1, min=4279.7ms, max=4279.7ms
+  task_sampling: mean=476.3ms, total=1.43s, count=3, min=402.2ms, max=566.4ms
+  task_specific_sample: mean=471.6ms, total=1.41s, count=3, min=398.5ms, max=560.6ms
+  scene_randomize: mean=2.0ms, total=5.9ms, count=3, min=1.5ms, max=2.3ms
+  mj_forward_sync: mean=443.2us, total=1.3ms, count=3, min=0.3ms, max=0.6ms
+  policy_setup: mean=22.2us, 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]
+05/11 02:03:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 02:03:26 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 02:03:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 02:03:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 02:03:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 02:03:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 02:03:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 02:03:26 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 02:03:26 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]
+05/11 02:03:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 02:03:26 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]
+05/11 02:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 02:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 02:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.064591m	[env.py: 870]
+05/11 02:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 02:03:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 02:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 02:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 64.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 02:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 88.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 02:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.74397518  0.09357521  0.06459141] yaw=153.6deg	[env.py: 1019]
+05/11 02:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 02:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -74.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 02:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 179.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 02:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.60759794  0.58473807  0.06459141] yaw=-164.0deg	[env.py: 1019]
+05/11 02:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 02:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 02:03:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=203.3ms, total=203.4ms	[env.py: 1075]
+05/11 02:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.744, 0.094, 0.065)	[env.py: 1079]
+05/11 02:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 153.6 deg	[env.py: 1082]
+05/11 02:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.034m	[env.py: 1086]
+05/11 02:03:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 02:03:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 02:03:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 02:03:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 02:03:26 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 02:03:26 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/11 02:03:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.146s	[base_object_manipulation_planner_policy.py: 377]
+05/11 02:03:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 02:03:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 02:03:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 02:03:29 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.064s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 02:03:29 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.630[m] 96.196[deg]	[grasp_sample.py: 539]
+05/11 02:03:30 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 02:03:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:03:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 02:03:31 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 02:03:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 02:03:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 02:03:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 02:03:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 02:03:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 02:03:31 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 02:03:31 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]
+05/11 02:03:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 02:03:31 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]
+05/11 02:03:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 02:03:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 02:03:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.073985m	[env.py: 870]
+05/11 02:03:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 02:03:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 02:03:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 02:03:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.98453689  0.89827273  0.07398512] yaw=-149.9deg	[env.py: 1019]
+05/11 02:03:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 02:03:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 99.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 02:03:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.6951371   0.16381444  0.07398512] yaw=162.1deg	[env.py: 1019]
+05/11 02:03:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 02:03:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 123.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 02:03:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 92.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 02:03:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.71869099  0.61009436  0.07398512] yaw=-174.3deg	[env.py: 1019]
+05/11 02:03:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 02:03:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 02:03:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=170.2ms, total=170.3ms	[env.py: 1075]
+05/11 02:03:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.985, 0.898, 0.074)	[env.py: 1079]
+05/11 02:03:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -149.9 deg	[env.py: 1082]
+05/11 02:03:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.830m	[env.py: 1086]
+05/11 02:03:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 02:03:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 02:03:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 02:03:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 02:03:32 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 02:03:32 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/11 02:03:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s	[base_object_manipulation_planner_policy.py: 377]
+05/11 02:03:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 02:03:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 02:03:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 02:03:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:03:33 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.772s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 02:03:33 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.423[m] 97.979[deg]	[grasp_sample.py: 539]
+05/11 02:03:33 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 02:03:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 02:03:33 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:03:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:03:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:03:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:03:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:03:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:03:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:03:42 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 02:03:42 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 02:03:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 02:03:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 02:03:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.061s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/11 02:03:42 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.451s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 02:03:42 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.553[deg]	[grasp_sample.py: 539]
+05/11 02:03:43 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 02:03:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 02:03:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:03:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:03:45 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 02:03:45 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/11 02:03:45 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 02:03:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:03:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:03:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:03:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:03:52 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 02:03:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:03:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 02:03:59 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 02:03:59 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 13.59s (batch: 4.84s, save: 8.76s)	[pipeline.py: 300]
+05/11 02:04:00 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.42s:
+  episode_total: mean=162.02s, total=162.02s, count=1, min=162018.5ms, max=162018.5ms
+  sensor_polling: mean=380.4ms, total=114.13s, count=300, min=312.1ms, max=782.0ms
+  save_trajectories: mean=8.76s, total=8.76s, count=1, min=8755.6ms, max=8755.6ms
+  physics_step: mean=19.4ms, total=5.81s, count=300, min=16.0ms, max=26.5ms
+  save_batch_prep: mean=4.84s, total=4.84s, count=1, min=4838.7ms, max=4838.7ms
+  task_sampling: mean=415.3ms, total=415.3ms, count=1, min=415.3ms, max=415.3ms
+  task_specific_sample: mean=409.2ms, total=409.2ms, count=1, min=409.2ms, max=409.2ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=492.6us, 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]
+05/11 02:04:00 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:04:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 02:04:02 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 02:04:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 02:04:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 02:04:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 02:04:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 02:04:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 02:04:02 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 02:04:02 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]
+05/11 02:04:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 02:04:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.067m, effective arm-mount z=0.927m (base_body_z=0.067m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 02:04:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 02:04:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 02:04:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.067130m	[env.py: 870]
+05/11 02:04:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 02:04:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 02:04:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 02:04:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.99805237  0.77622636  0.06712974] yaw=-154.5deg	[env.py: 1019]
+05/11 02:04:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 02:04:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.61394427  0.35905789  0.06712974] yaw=175.2deg	[env.py: 1019]
+05/11 02:04:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 02:04:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -51.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 02:04:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 119.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 02:04:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.84259651  0.76564253  0.06712974] yaw=-156.0deg	[env.py: 1019]
+05/11 02:04:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 02:04:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 02:04:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=124.0ms, total=124.1ms	[env.py: 1075]
+05/11 02:04:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.998, 0.776, 0.067)	[env.py: 1079]
+05/11 02:04:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -154.5 deg	[env.py: 1082]
+05/11 02:04:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.763m	[env.py: 1086]
+05/11 02:04:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 02:04:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 02:04:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 02:04:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 02:04:02 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 02:04:02 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/11 02:04:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.106s	[base_object_manipulation_planner_policy.py: 377]
+05/11 02:04:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 02:04:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 02:04:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 02:04:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.709s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 02:04:03 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.338[m] 91.862[deg]	[grasp_sample.py: 539]
+05/11 02:04:03 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 02:04:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 02:04:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:04:04 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 02:04:07 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:04:09 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 02:04:10 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 02:04:14 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 02:04:14 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/11 02:04:14 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 02:04:14 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 02:04:18 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:04:26 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 02:04:26 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 02:04:26 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 11.93s (batch: 2.99s, save: 8.94s)	[pipeline.py: 300]
+05/11 02:04:26 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=1.28s:
+  episode_total: mean=100.84s, total=302.53s, count=3, min=3456.7ms, max=165238.9ms
+  sensor_polling: mean=414.1ms, total=233.96s, count=565, min=301.0ms, max=740.1ms
+  physics_step: mean=22.2ms, total=12.52s, count=565, min=13.3ms, max=100.1ms
+  save_trajectories: mean=8.94s, total=8.94s, count=1, min=8936.5ms, max=8936.5ms
+  save_batch_prep: mean=2.99s, total=2.99s, count=1, min=2993.5ms, max=2993.5ms
+  task_sampling: mean=427.7ms, total=1.28s, count=3, min=425.6ms, max=428.8ms
+  task_specific_sample: mean=424.8ms, total=1.27s, count=3, min=422.5ms, max=426.2ms
+  scene_randomize: mean=1.3ms, total=3.9ms, count=3, min=0.9ms, max=1.9ms
+  mj_forward_sync: mean=357.9us, total=1.1ms, count=3, min=0.3ms, max=0.4ms
+  policy_setup: mean=16.7us, 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]
+05/11 02:04:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 02:04:27 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 02:04:27 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 02:04:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 02:04:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 02:04:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 02:04:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 02:04:27 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 02:04:27 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]
+05/11 02:04:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 02:04:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.003m, effective arm-mount z=0.863m (base_body_z=0.003m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 02:04:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 02:04:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 02:04:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.002729m	[env.py: 870]
+05/11 02:04:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 02:04:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 02:04:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 02:04:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 123.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 02:04:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.77286683  0.80626055  0.00272877] yaw=-150.0deg	[env.py: 1019]
+05/11 02:04:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 02:04:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 78.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 02:04:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -33.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 02:04:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.69009365  0.06886669  0.00272877] yaw=152.6deg	[env.py: 1019]
+05/11 02:04:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 02:04:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.01520436  0.84677963  0.00272877] yaw=-158.3deg	[env.py: 1019]
+05/11 02:04:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 02:04:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 02:04:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=198.0ms, total=198.1ms	[env.py: 1075]
+05/11 02:04:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.773, 0.806, 0.003)	[env.py: 1079]
+05/11 02:04:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -150.0 deg	[env.py: 1082]
+05/11 02:04:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.984m	[env.py: 1086]
+05/11 02:04:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 02:04:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 02:04:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 02:04:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 02:04:28 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 02:04:28 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/11 02:04:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.088s	[base_object_manipulation_planner_policy.py: 377]
+05/11 02:04:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 02:04:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 02:04:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 02:04:29 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.770s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 02:04:29 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.588[m] 93.461[deg]	[grasp_sample.py: 539]
+05/11 02:04:29 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 02:04:29 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:04:29 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 02:04:29 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:04:29 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 02:04:33 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 02:04:33 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/11 02:04:33 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 02:04:37 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 02:04:40 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:04:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 02:04:46 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 02:04:46 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 12.34s (batch: 3.72s, save: 8.63s)	[pipeline.py: 300]
+05/11 02:04:46 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.48s:
+  episode_total: mean=177.56s, total=177.56s, count=1, min=177555.3ms, max=177555.3ms
+  sensor_polling: mean=364.0ms, total=109.20s, count=300, min=295.5ms, max=677.5ms
+  save_trajectories: mean=8.63s, total=8.63s, count=1, min=8629.0ms, max=8629.0ms
+  physics_step: mean=21.6ms, total=6.49s, count=300, min=12.2ms, max=60.7ms
+  save_batch_prep: mean=3.72s, total=3.72s, count=1, min=3715.1ms, max=3715.1ms
+  task_sampling: mean=477.4ms, total=477.4ms, count=1, min=477.4ms, max=477.4ms
+  task_specific_sample: mean=473.1ms, total=473.1ms, count=1, min=473.1ms, max=473.1ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=580.7us, 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]
+05/11 02:04:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 02:04:47 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 02:04:47 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 02:04:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 02:04:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 02:04:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 02:04:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 02:04:47 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 02:04:47 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 02:04:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 02:04:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.024m, effective arm-mount z=0.884m (base_body_z=0.024m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 02:04:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 02:04:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 02:04:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.023522m	[env.py: 870]
+05/11 02:04:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 02:04:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 02:04:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 02:04:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.86389594  1.05846742  0.02352181] yaw=-138.0deg	[env.py: 1019]
+05/11 02:04:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 02:04:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.91262154  0.42731051  0.02352181] yaw=175.5deg	[env.py: 1019]
+05/11 02:04:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 02:04:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.84896778  0.6973597   0.02352181] yaw=-155.7deg	[env.py: 1019]
+05/11 02:04:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 02:04:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 02:04:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=150.3ms, total=150.3ms	[env.py: 1075]
+05/11 02:04:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.864, 1.058, 0.024)	[env.py: 1079]
+05/11 02:04:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -138.0 deg	[env.py: 1082]
+05/11 02:04:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.017m	[env.py: 1086]
+05/11 02:04:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 02:04:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 02:04:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 02:04:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 02:04:48 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 02:04:48 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/11 02:04:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.096s	[base_object_manipulation_planner_policy.py: 377]
+05/11 02:04:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 02:04:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 02:04:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 02:04:49 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.510s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 02:04:49 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.636[m] 95.435[deg]	[grasp_sample.py: 539]
+05/11 02:04:51 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 02:04:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 02:04:52 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 02:04:52 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 02:04:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 02:04:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 02:04:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 02:04:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 02:04:52 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 02:04:52 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 02:04:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 02:04:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.004m, effective arm-mount z=0.864m (base_body_z=0.004m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 02:04:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 02:04:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 02:04:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.003514m	[env.py: 870]
+05/11 02:04:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 02:04:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 02:04:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 02:04:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -34.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 02:04:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -70.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 02:04:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 172.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 02:04:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.95403381  0.82908141  0.00351374] yaw=-152.8deg	[env.py: 1019]
+05/11 02:04:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 02:04:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 55.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 02:04:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.16384252  1.12487116  0.00351374] yaw=-138.9deg	[env.py: 1019]
+05/11 02:04:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 02:04:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.11817801  1.21177774  0.00351374] yaw=-127.1deg	[env.py: 1019]
+05/11 02:04:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 02:04:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 02:04:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=299.5ms, total=299.5ms	[env.py: 1075]
+05/11 02:04:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.954, 0.829, 0.004)	[env.py: 1079]
+05/11 02:04:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -152.8 deg	[env.py: 1082]
+05/11 02:04:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.825m	[env.py: 1086]
+05/11 02:04:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 02:04:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 02:04:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 02:04:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 02:04:53 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 02:04:53 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/11 02:04:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s	[base_object_manipulation_planner_policy.py: 377]
+05/11 02:04:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 02:04:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 02:04:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 02:04:54 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.870s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 02:04:54 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.394[m] 85.373[deg]	[grasp_sample.py: 539]
+05/11 02:04:54 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 02:04:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 02:04:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:05:20 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:05:20 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:05:26 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 02:05:29 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 02:05:29 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:05:33 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:05:35 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 02:05:57 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 02:05:58 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 02:05:58 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/11 02:05:58 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 02:06:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 02:06:11 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 02:06:11 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 13.40s (batch: 3.78s, save: 9.62s)	[pipeline.py: 300]
+05/11 02:06:12 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.85s:
+  episode_total: mean=82.18s, total=164.35s, count=2, min=3956.1ms, max=160394.5ms
+  sensor_polling: mean=377.2ms, total=113.16s, count=300, min=301.2ms, max=737.4ms
+  save_trajectories: mean=9.62s, total=9.62s, count=1, min=9622.6ms, max=9622.6ms
+  physics_step: mean=21.9ms, total=6.56s, count=300, min=14.5ms, max=55.0ms
+  save_batch_prep: mean=3.78s, total=3.78s, count=1, min=3780.5ms, max=3780.5ms
+  task_sampling: mean=424.3ms, total=848.6ms, count=2, min=366.6ms, max=482.1ms
+  task_specific_sample: mean=420.3ms, total=840.7ms, count=2, min=362.8ms, max=477.8ms
+  scene_randomize: mean=2.3ms, total=4.5ms, count=2, min=1.6ms, max=2.9ms
+  mj_forward_sync: mean=419.5us, total=0.8ms, count=2, min=0.3ms, max=0.5ms
+  policy_setup: mean=17.1us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 02:06:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 02:06:13 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 02:06:13 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 02:06:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 02:06:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 02:06:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 02:06:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 02:06:13 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 02:06:13 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]
+05/11 02:06:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 02:06:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.005m, effective arm-mount z=0.865m (base_body_z=0.005m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 02:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 02:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 02:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.004530m	[env.py: 870]
+05/11 02:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 02:06:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 02:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 02:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 58.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 02:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.98162115  0.70892225  0.0045299 ] yaw=-156.7deg	[env.py: 1019]
+05/11 02:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 02:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -38.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 02:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.037662   1.2172313  0.0045299] yaw=-120.9deg	[env.py: 1019]
+05/11 02:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 02:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.65016229  0.54946101  0.0045299 ] yaw=-180.7deg	[env.py: 1019]
+05/11 02:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 02:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 02:06:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=300.5ms, total=300.5ms	[env.py: 1075]
+05/11 02:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.982, 0.709, 0.005)	[env.py: 1079]
+05/11 02:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -156.7 deg	[env.py: 1082]
+05/11 02:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.756m	[env.py: 1086]
+05/11 02:06:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 02:06:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 02:06:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 02:06:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 02:06:14 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 02:06:14 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/11 02:06:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s	[base_object_manipulation_planner_policy.py: 377]
+05/11 02:06:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 02:06:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 02:06:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 02:06:14 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.648s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 02:06:14 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.313[m] 86.302[deg]	[grasp_sample.py: 539]
+05/11 02:06:15 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 02:06:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 02:06:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:06:15 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 02:06:17 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 02:06:17 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/11 02:06:17 INFO: [Worker 0] Preparing episode data: 291 timesteps	[save_utils.py: 278]
+05/11 02:06:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 02:06:30 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 02:06:30 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 13.59s (batch: 4.45s, save: 9.14s)	[pipeline.py: 300]
+05/11 02:06:31 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.42s:
+  episode_total: mean=149.70s, total=149.70s, count=1, min=149699.1ms, max=149699.1ms
+  sensor_polling: mean=364.2ms, total=105.61s, count=290, min=305.0ms, max=669.4ms
+  save_trajectories: mean=9.14s, total=9.14s, count=1, min=9139.9ms, max=9139.9ms
+  physics_step: mean=19.6ms, total=5.68s, count=290, min=18.0ms, max=26.6ms
+  save_batch_prep: mean=4.45s, total=4.45s, count=1, min=4453.4ms, max=4453.4ms
+  task_sampling: mean=419.2ms, total=419.2ms, count=1, min=419.2ms, max=419.2ms
+  task_specific_sample: mean=415.4ms, total=415.4ms, count=1, min=415.4ms, max=415.4ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=387.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=19.2us, 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]
+05/11 02:06:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 02:06:33 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 02:06:33 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 02:06:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 02:06:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 02:06:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 02:06:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 02:06:33 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 02:06:33 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 02:06:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 02:06:33 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]
+05/11 02:06:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 02:06:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 02:06:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.010721m	[env.py: 870]
+05/11 02:06:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 02:06:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 02:06:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 02:06:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -34.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 02:06:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 104.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 02:06:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 85.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 02:06:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.83367781  0.05908712  0.01072115] yaw=156.4deg	[env.py: 1019]
+05/11 02:06:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 02:06:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.7902299   0.07457054  0.01072115] yaw=154.4deg	[env.py: 1019]
+05/11 02:06:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 02:06:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.63479643  0.45492598  0.01072115] yaw=178.6deg	[env.py: 1019]
+05/11 02:06:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 02:06:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 02:06:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=465.1ms, total=465.1ms	[env.py: 1075]
+05/11 02:06:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.834, 0.059, 0.011)	[env.py: 1079]
+05/11 02:06:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 156.4 deg	[env.py: 1082]
+05/11 02:06:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.966m	[env.py: 1086]
+05/11 02:06:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 02:06:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 02:06:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 02:06:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 02:06:34 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 02:06:34 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/11 02:06:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s	[base_object_manipulation_planner_policy.py: 377]
+05/11 02:06:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 02:06:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 02:06:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 02:06:35 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.636s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 02:06:35 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.569[m] 99.957[deg]	[grasp_sample.py: 539]
+05/11 02:06:36 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 02:06:36 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 02:06:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 02:06:38 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 02:06:38 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 02:06:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 02:06:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 02:06:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 02:06:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 02:06:38 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 02:06:38 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]
+05/11 02:06:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 02:06:38 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]
+05/11 02:06:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 02:06:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 02:06:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.014021m	[env.py: 870]
+05/11 02:06:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 02:06:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 02:06:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 02:06:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -69.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 02:06:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -35.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 02:06:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.07001241  0.93064421  0.0140212 ] yaw=-149.9deg	[env.py: 1019]
+05/11 02:06:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 02:06:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 105.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 02:06:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.7288396   0.61319537  0.0140212 ] yaw=-179.2deg	[env.py: 1019]
+05/11 02:06:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 02:06:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.05502974  1.21668587  0.0140212 ] yaw=-123.3deg	[env.py: 1019]
+05/11 02:06:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 02:06:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 02:06:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=150.8ms, total=150.8ms	[env.py: 1075]
+05/11 02:06:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.070, 0.931, 0.014)	[env.py: 1079]
+05/11 02:06:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -149.9 deg	[env.py: 1082]
+05/11 02:06:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.775m	[env.py: 1086]
+05/11 02:06:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 02:06:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 02:06:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 02:06:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 02:06:38 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 02:06:38 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/11 02:06:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.051s	[base_object_manipulation_planner_policy.py: 377]
+05/11 02:06:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 02:06:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 02:06:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 02:06:39 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.487s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 02:06:39 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.357[m] 93.379[deg]	[grasp_sample.py: 539]
+05/11 02:06:39 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 02:06:39 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 02:06:39 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:06:39 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:06:47 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 02:06:49 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 02:06:50 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:06:55 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 02:06:55 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/11 02:06:55 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 02:07:06 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:07:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 02:07:08 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 02:07:08 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 13.00s (batch: 3.71s, save: 9.29s)	[pipeline.py: 300]
+05/11 02:07:09 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.51s:
+  episode_total: mean=161.81s, total=161.81s, count=1, min=161810.1ms, max=161810.1ms
+  sensor_polling: mean=394.2ms, total=118.25s, count=300, min=287.4ms, max=762.6ms
+  save_trajectories: mean=9.29s, total=9.29s, count=1, min=9291.9ms, max=9291.9ms
+  physics_step: mean=22.4ms, total=6.73s, count=300, min=17.4ms, max=46.4ms
+  save_batch_prep: mean=3.71s, total=3.71s, count=1, min=3710.6ms, max=3710.6ms
+  task_sampling: mean=507.9ms, total=507.9ms, count=1, min=507.9ms, max=507.9ms
+  task_specific_sample: mean=503.6ms, total=503.6ms, count=1, min=503.6ms, max=503.6ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=583.3us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=15.9us, 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]
+05/11 02:07:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 02:07:10 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 02:07:10 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 02:07:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 02:07:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 02:07:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 02:07:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 02:07:10 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 02:07:10 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]
+05/11 02:07:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 02:07:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.028m, effective arm-mount z=0.888m (base_body_z=0.028m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 02:07:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 02:07:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 02:07:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.027624m	[env.py: 870]
+05/11 02:07:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 02:07:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 02:07:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 02:07:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.04961213  0.99879788  0.02762434] yaw=-148.4deg	[env.py: 1019]
+05/11 02:07:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 02:07:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -32.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 02:07:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 113.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 02:07:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.75871874  0.55686815  0.02762434] yaw=-176.5deg	[env.py: 1019]
+05/11 02:07:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 02:07:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.90905491  0.7042546   0.02762434] yaw=-160.8deg	[env.py: 1019]
+05/11 02:07:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 02:07:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 02:07:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=111.6ms, total=111.6ms	[env.py: 1075]
+05/11 02:07:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.050, 0.999, 0.028)	[env.py: 1079]
+05/11 02:07:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -148.4 deg	[env.py: 1082]
+05/11 02:07:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.833m	[env.py: 1086]
+05/11 02:07:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 02:07:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 02:07:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 02:07:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 02:07:11 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 02:07:11 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/11 02:07:11 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 02:07:11 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/11 02:07:11 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 02:07:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
+05/11 02:07:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 02:07:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 02:07:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 02:07:11 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.544s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 02:07:11 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.403[m] 84.406[deg]	[grasp_sample.py: 539]
+05/11 02:07:11 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 02:07:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 02:07:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:07:13 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 02:07:16 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:07:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 02:07:23 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 02:07:23 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 12.41s (batch: 3.32s, save: 9.10s)	[pipeline.py: 300]
+05/11 02:07:24 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.95s:
+  episode_total: mean=77.59s, total=155.19s, count=2, min=3365.4ms, max=151820.3ms
+  sensor_polling: mean=357.4ms, total=107.22s, count=300, min=290.6ms, max=731.8ms
+  save_trajectories: mean=9.10s, total=9.10s, count=1, min=9098.3ms, max=9098.3ms
+  physics_step: mean=21.1ms, total=6.33s, count=300, min=14.5ms, max=118.3ms
+  save_batch_prep: mean=3.32s, total=3.32s, count=1, min=3315.9ms, max=3315.9ms
+  task_sampling: mean=474.3ms, total=948.6ms, count=2, min=403.6ms, max=545.0ms
+  task_specific_sample: mean=470.9ms, total=941.8ms, count=2, min=400.2ms, max=541.6ms
+  scene_randomize: mean=1.8ms, total=3.5ms, count=2, min=1.3ms, max=2.3ms
+  mj_forward_sync: mean=520.2us, total=1.0ms, count=2, min=0.4ms, max=0.6ms
+  policy_setup: mean=14.0us, 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]
+05/11 02:07:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 02:07:25 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 02:07:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 02:07:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 02:07:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 02:07:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 02:07:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 02:07:25 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 02:07:25 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]
+05/11 02:07:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 02:07:25 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]
+05/11 02:07:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 02:07:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 02:07:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.038315m	[env.py: 870]
+05/11 02:07:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 02:07:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 02:07:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 02:07:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.9204208   0.77952477  0.03831518] yaw=-155.9deg	[env.py: 1019]
+05/11 02:07:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 02:07:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.1445002   0.9975474   0.03831518] yaw=-147.9deg	[env.py: 1019]
+05/11 02:07:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 02:07:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 79.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 02:07:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 105.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 02:07:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.7421912   0.29761221  0.03831518] yaw=158.0deg	[env.py: 1019]
+05/11 02:07:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 02:07:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 02:07:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=197.3ms, total=197.4ms	[env.py: 1075]
+05/11 02:07:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.920, 0.780, 0.038)	[env.py: 1079]
+05/11 02:07:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -155.9 deg	[env.py: 1082]
+05/11 02:07:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.837m	[env.py: 1086]
+05/11 02:07:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 02:07:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 02:07:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 02:07:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 02:07:25 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 02:07:25 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/11 02:07:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
+05/11 02:07:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 02:07:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 02:07:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 02:07:26 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.488s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 02:07:26 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.422[m] 90.863[deg]	[grasp_sample.py: 539]
+05/11 02:07:26 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 02:07:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 02:07:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:07:27 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 02:07:47 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:07:56 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 02:07:59 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:08:00 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:08:06 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 02:08:06 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 02:08:10 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:08:25 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 02:08:25 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/11 02:08:25 INFO: [Worker 0] Preparing episode data: 285 timesteps	[save_utils.py: 278]
+05/11 02:08:29 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 02:08:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 02:08:39 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 02:08:39 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 14.09s (batch: 4.25s, save: 9.84s)	[pipeline.py: 300]
+05/11 02:08:40 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.67s:
+  episode_total: mean=146.77s, total=146.77s, count=1, min=146772.7ms, max=146772.7ms
+  sensor_polling: mean=363.0ms, total=103.08s, count=284, min=300.2ms, max=831.4ms
+  save_trajectories: mean=9.84s, total=9.84s, count=1, min=9843.5ms, max=9843.5ms
+  physics_step: mean=20.8ms, total=5.91s, count=284, min=17.1ms, max=27.4ms
+  save_batch_prep: mean=4.25s, total=4.25s, count=1, min=4246.4ms, max=4246.4ms
+  task_sampling: mean=674.9ms, total=674.9ms, count=1, min=674.9ms, max=674.9ms
+  task_specific_sample: mean=671.0ms, total=671.0ms, count=1, min=671.0ms, max=671.0ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=449.5us, 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]
+05/11 02:08:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 02:08:41 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 02:08:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 02:08:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 02:08:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 02:08:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 02:08:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 02:08:41 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 02:08:41 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 02:08:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 02:08:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.075m, effective arm-mount z=0.935m (base_body_z=0.075m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 02:08:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 02:08:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 02:08:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.075462m	[env.py: 870]
+05/11 02:08:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 02:08:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 02:08:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 02:08:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.79624817  0.41203537  0.07546218] yaw=164.4deg	[env.py: 1019]
+05/11 02:08:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 02:08:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 121.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 02:08:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 53.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 02:08:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 98.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 02:08:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.67965766  0.21987659  0.07546218] yaw=173.6deg	[env.py: 1019]
+05/11 02:08:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 02:08:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.8708486   1.02035094  0.07546218] yaw=-152.9deg	[env.py: 1019]
+05/11 02:08:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 02:08:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 02:08:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=129.8ms, total=129.8ms	[env.py: 1075]
+05/11 02:08:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.796, 0.412, 0.075)	[env.py: 1079]
+05/11 02:08:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 164.4 deg	[env.py: 1082]
+05/11 02:08:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.909m	[env.py: 1086]
+05/11 02:08:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 02:08:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 02:08:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 02:08:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 02:08:42 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 02:08:42 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/11 02:08:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.117s	[base_object_manipulation_planner_policy.py: 377]
+05/11 02:08:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 02:08:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 02:08:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 02:08:43 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.677s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 02:08:43 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.478[m] 93.892[deg]	[grasp_sample.py: 539]
+05/11 02:08:43 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 02:08:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 02:08:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:08:43 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 02:08:50 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 02:08:50 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/11 02:08:50 INFO: [Worker 0] Preparing episode data: 293 timesteps	[save_utils.py: 278]
+05/11 02:09:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 02:09:03 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 02:09:03 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 13.94s (batch: 4.53s, save: 9.41s)	[pipeline.py: 300]
+05/11 02:09:04 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=1.11s:
+  episode_total: mean=74.57s, total=149.14s, count=2, min=2486.9ms, max=146649.9ms
+  sensor_polling: mean=351.7ms, total=102.69s, count=292, min=292.0ms, max=612.0ms
+  save_trajectories: mean=9.41s, total=9.41s, count=1, min=9413.3ms, max=9413.3ms
+  physics_step: mean=19.5ms, total=5.71s, count=292, min=13.9ms, max=34.1ms
+  save_batch_prep: mean=4.53s, total=4.53s, count=1, min=4526.0ms, max=4526.0ms
+  task_sampling: mean=552.8ms, total=1.11s, count=2, min=384.1ms, max=721.6ms
+  task_specific_sample: mean=548.5ms, total=1.10s, count=2, min=379.7ms, max=717.4ms
+  scene_randomize: mean=2.2ms, total=4.4ms, count=2, min=1.7ms, max=2.7ms
+  mj_forward_sync: mean=470.2us, total=0.9ms, count=2, min=0.4ms, max=0.6ms
+  policy_setup: mean=21.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 02:09:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 02:09:06 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 02:09:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 02:09:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 02:09:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 02:09:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 02:09:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 02:09:06 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 02:09:06 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]
+05/11 02:09:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 02:09:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.067m, effective arm-mount z=0.927m (base_body_z=0.067m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 02:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 02:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 02:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.066960m	[env.py: 870]
+05/11 02:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 02:09:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 02:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 02:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -162.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 02:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.10433479  0.93569459  0.06696024] yaw=-148.1deg	[env.py: 1019]
+05/11 02:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 02:09:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 162.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 02:09:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.96732303  0.17604718  0.06696024] yaw=159.1deg	[env.py: 1019]
+05/11 02:09:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 02:09:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -59.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 02:09:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.93354281  0.50493298  0.06696024] yaw=-177.0deg	[env.py: 1019]
+05/11 02:09:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 02:09:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 02:09:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=339.6ms, total=339.6ms	[env.py: 1075]
+05/11 02:09:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.104, 0.936, 0.067)	[env.py: 1079]
+05/11 02:09:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -148.1 deg	[env.py: 1082]
+05/11 02:09:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.751m	[env.py: 1086]
+05/11 02:09:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 02:09:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 02:09:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 02:09:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 02:09:07 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 02:09:07 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/11 02:09:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.090s	[base_object_manipulation_planner_policy.py: 377]
+05/11 02:09:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 02:09:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 02:09:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 02:09:08 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.522s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 02:09:08 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.308[m] 81.630[deg]	[grasp_sample.py: 539]
+05/11 02:09:08 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 02:09:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 02:09:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:09:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:09:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:09:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:09:20 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:09:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:09:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:09:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:09:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:09:27 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 02:09:29 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 02:09:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:09:29 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 02:09:29 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 02:09:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 02:09:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 02:09:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/11 02:09:29 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:09:31 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.808s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 02:09:31 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.256[deg]	[grasp_sample.py: 539]
+05/11 02:09:32 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 02:09:33 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:09:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 02:09:34 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 02:09:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 02:09:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 02:09:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 02:09:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 02:09:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 02:09:34 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 02:09:34 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]
+05/11 02:09:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 02:09:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.003m, effective arm-mount z=0.863m (base_body_z=0.003m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 02:09:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 02:09:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 02:09:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.002849m	[env.py: 870]
+05/11 02:09:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 02:09:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 02:09:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 02:09:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.88890757  0.41149685  0.00284918] yaw=181.9deg	[env.py: 1019]
+05/11 02:09:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 02:09:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.01103001  0.8489412   0.00284918] yaw=-147.1deg	[env.py: 1019]
+05/11 02:09:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 02:09:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.87843798  0.36199073  0.00284918] yaw=177.9deg	[env.py: 1019]
+05/11 02:09:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 02:09:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 02:09:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=190.0ms, total=190.0ms	[env.py: 1075]
+05/11 02:09:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.889, 0.411, 0.003)	[env.py: 1079]
+05/11 02:09:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 181.9 deg	[env.py: 1082]
+05/11 02:09:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.816m	[env.py: 1086]
+05/11 02:09:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 02:09:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 02:09:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 02:09:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 02:09:34 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 02:09:34 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/11 02:09:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s	[base_object_manipulation_planner_policy.py: 377]
+05/11 02:09:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 02:09:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 02:09:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 02:09:35 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.517s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 02:09:35 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.333[m] 80.557[deg]	[grasp_sample.py: 539]
+05/11 02:09:35 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 02:09:35 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 02:09:35 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:09:35 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 02:09:37 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 02:09:40 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:09:50 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 02:09:50 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/11 02:09:50 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 02:10:00 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:10:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 02:10:04 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 02:10:04 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 14.80s (batch: 4.17s, save: 10.63s)	[pipeline.py: 300]
+05/11 02:10:05 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.46s:
+  episode_total: mean=159.93s, total=159.93s, count=1, min=159929.9ms, max=159929.9ms
+  sensor_polling: mean=373.0ms, total=111.90s, count=300, min=290.3ms, max=718.7ms
+  save_trajectories: mean=10.63s, total=10.63s, count=1, min=10627.9ms, max=10627.9ms
+  physics_step: mean=22.7ms, total=6.80s, count=300, min=16.0ms, max=56.1ms
+  save_batch_prep: mean=4.17s, total=4.17s, count=1, min=4173.4ms, max=4173.4ms
+  task_sampling: mean=459.8ms, total=459.8ms, count=1, min=459.8ms, max=459.8ms
+  task_specific_sample: mean=456.4ms, total=456.4ms, count=1, min=456.4ms, max=456.4ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=410.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=14.5us, 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]
+05/11 02:10:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 02:10:06 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 02:10:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 02:10:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 02:10:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 02:10:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 02:10:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 02:10:06 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 02:10:06 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]
+05/11 02:10:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 02:10:06 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]
+05/11 02:10:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 02:10:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 02:10:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.076811m	[env.py: 870]
+05/11 02:10:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 02:10:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 02:10:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 02:10:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 128.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 02:10:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -37.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 02:10:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -63.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 02:10:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 56.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 02:10:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 67.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 02:10:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.66294887  0.53793078  0.0768106 ] yaw=-175.1deg	[env.py: 1019]
+05/11 02:10:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 02:10:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 02:10:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=182.9ms, total=182.9ms	[env.py: 1075]
+05/11 02:10:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.663, 0.538, 0.077)	[env.py: 1079]
+05/11 02:10:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -175.1 deg	[env.py: 1082]
+05/11 02:10:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.041m	[env.py: 1086]
+05/11 02:10:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 02:10:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 02:10:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 02:10:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 02:10:07 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 02:10:07 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/11 02:10:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
+05/11 02:10:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 02:10:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 02:10:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.062s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 02:10:08 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.896s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 02:10:08 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.606[m] 90.507[deg]	[grasp_sample.py: 539]
+05/11 02:10:08 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 02:10:08 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 02:10:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 02:10:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:10:09 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 02:10:12 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:10:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:10:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:10:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:10:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:10:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:10:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:10:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:10:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:10:28 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 02:10:28 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 02:10:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 02:10:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 02:10:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/11 02:10:28 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.429s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 02:10:28 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.609[deg]	[grasp_sample.py: 539]
+05/11 02:10:28 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 02:10:29 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 02:10:29 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:10:35 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:10:43 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 02:10:47 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:10:53 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 02:10:54 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 02:10:55 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:11:02 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 02:11:06 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:11:12 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 02:11:12 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/11 02:11:12 INFO: [Worker 0] Preparing episode data: 283 timesteps	[save_utils.py: 278]
+05/11 02:11:16 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 02:11:16 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/11 02:11:16 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 02:11:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 02:11:25 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 02:11:25 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 13.00s (batch: 4.30s, save: 8.70s)	[pipeline.py: 300]
+05/11 02:11:26 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.60s:
+  episode_total: mean=139.73s, total=139.73s, count=1, min=139731.3ms, max=139731.3ms
+  sensor_polling: mean=346.7ms, total=97.78s, count=282, min=304.4ms, max=735.3ms
+  save_trajectories: mean=8.70s, total=8.70s, count=1, min=8702.8ms, max=8702.8ms
+  physics_step: mean=19.3ms, total=5.46s, count=282, min=14.3ms, max=25.8ms
+  save_batch_prep: mean=4.30s, total=4.30s, count=1, min=4299.7ms, max=4299.7ms
+  task_sampling: mean=600.3ms, total=600.3ms, count=1, min=600.3ms, max=600.3ms
+  task_specific_sample: mean=596.0ms, total=596.0ms, count=1, min=596.0ms, max=596.0ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=430.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=24.2us, 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]
+05/11 02:11:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 02:11:28 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 02:11:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 02:11:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 02:11:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 02:11:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 02:11:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 02:11:28 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 02:11:28 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]
+05/11 02:11:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 02:11:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.078m, effective arm-mount z=0.938m (base_body_z=0.078m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 02:11:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 02:11:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 02:11:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.077547m	[env.py: 870]
+05/11 02:11:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 02:11:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 02:11:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 02:11:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 78.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 02:11:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 92.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 02:11:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 74.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 02:11:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 118.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 02:11:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.85349951  0.5057456   0.07754721] yaw=-171.5deg	[env.py: 1019]
+05/11 02:11:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 02:11:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 02:11:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=200.1ms, total=200.1ms	[env.py: 1075]
+05/11 02:11:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.853, 0.506, 0.078)	[env.py: 1079]
+05/11 02:11:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -171.5 deg	[env.py: 1082]
+05/11 02:11:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.849m	[env.py: 1086]
+05/11 02:11:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 02:11:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 02:11:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 02:11:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 02:11:28 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 02:11:28 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/11 02:11:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
+05/11 02:11:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 02:11:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 02:11:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 02:11:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 02:11:29 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 02:11:29 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 12.56s (batch: 4.04s, save: 8.52s)	[pipeline.py: 300]
+05/11 02:11:29 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.567s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 02:11:29 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.383[m] 83.140[deg]	[grasp_sample.py: 539]
+05/11 02:11:29 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 02:11:29 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.44s:
+  episode_total: mean=168.01s, total=168.01s, count=1, min=168007.2ms, max=168007.2ms
+  sensor_polling: mean=378.5ms, total=113.54s, count=300, min=295.5ms, max=718.7ms
+  save_trajectories: mean=8.52s, total=8.52s, count=1, min=8520.6ms, max=8520.6ms
+  physics_step: mean=23.3ms, total=7.00s, count=300, min=16.9ms, max=52.5ms
+  save_batch_prep: mean=4.04s, total=4.04s, count=1, min=4040.0ms, max=4040.0ms
+  task_sampling: mean=441.0ms, total=441.0ms, count=1, min=441.0ms, max=441.0ms
+  task_specific_sample: mean=436.6ms, total=436.6ms, count=1, min=436.6ms, max=436.6ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=600.1us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=15.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 02:11:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 02:11:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:11:30 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 02:11:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 02:11:31 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 02:11:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 02:11:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 02:11:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 02:11:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 02:11:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 02:11:31 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 02:11:31 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]
+05/11 02:11:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 02:11:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.030m, effective arm-mount z=0.890m (base_body_z=0.030m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 02:11:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 02:11:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 02:11:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.029980m	[env.py: 870]
+05/11 02:11:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 02:11:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 02:11:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 02:11:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -49.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 02:11:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.6518102   0.72951971  0.02997984] yaw=-166.6deg	[env.py: 1019]
+05/11 02:11:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 02:11:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.79146611  0.97738567  0.02997984] yaw=-150.4deg	[env.py: 1019]
+05/11 02:11:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 02:11:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -35.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 02:11:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.62545492  0.47441804  0.02997984] yaw=180.0deg	[env.py: 1019]
+05/11 02:11:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 02:11:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 02:11:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=285.8ms, total=285.9ms	[env.py: 1075]
+05/11 02:11:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.652, 0.730, 0.030)	[env.py: 1079]
+05/11 02:11:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -166.6 deg	[env.py: 1082]
+05/11 02:11:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.079m	[env.py: 1086]
+05/11 02:11:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 02:11:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 02:11:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 02:11:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 02:11:31 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 02:11:31 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/11 02:11:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.090s	[base_object_manipulation_planner_policy.py: 377]
+05/11 02:11:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 02:11:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 02:11:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 02:11:33 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.035s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 02:11:33 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.610[m] 86.913[deg]	[grasp_sample.py: 539]
+05/11 02:11:33 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 02:11:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 02:11:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:11:34 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 02:11:44 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 02:11:56 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:12:02 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 02:12:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 02:12:08 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 02:12:08 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/11 02:12:08 INFO: [Worker 0] Preparing episode data: 287 timesteps	[save_utils.py: 278]
+05/11 02:12:08 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:12:21 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:12:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 02:12:21 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 02:12:21 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 13.36s (batch: 3.83s, save: 9.53s)	[pipeline.py: 300]
+05/11 02:12:21 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.72s:
+  episode_total: mean=154.86s, total=309.71s, count=2, min=141756.7ms, max=167957.7ms
+  sensor_polling: mean=415.1ms, total=239.09s, count=576, min=288.2ms, max=770.4ms
+  physics_step: mean=23.5ms, total=13.54s, count=576, min=13.3ms, max=54.2ms
+  save_trajectories: mean=9.53s, total=9.53s, count=1, min=9530.8ms, max=9530.8ms
+  save_batch_prep: mean=3.83s, total=3.83s, count=1, min=3825.4ms, max=3825.4ms
+  task_sampling: mean=359.9ms, total=719.8ms, count=2, min=353.0ms, max=366.8ms
+  task_specific_sample: mean=356.4ms, total=712.9ms, count=2, min=349.5ms, max=363.4ms
+  scene_randomize: mean=1.8ms, total=3.6ms, count=2, min=1.4ms, max=2.2ms
+  mj_forward_sync: mean=533.4us, total=1.1ms, count=2, min=0.5ms, max=0.5ms
+  policy_setup: mean=13.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 02:12:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 02:12:23 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 02:12:23 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 02:12:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 02:12:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 02:12:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 02:12:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 02:12:23 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 02:12:23 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]
+05/11 02:12:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 02:12:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.003m, effective arm-mount z=0.863m (base_body_z=0.003m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 02:12:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 02:12:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 02:12:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.002782m	[env.py: 870]
+05/11 02:12:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 02:12:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 02:12:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 02:12:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 114.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 02:12:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 106.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 02:12:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 110.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 02:12:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.77199416  0.17085329  0.0027816 ] yaw=168.2deg	[env.py: 1019]
+05/11 02:12:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 02:12:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -59.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 02:12:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.90151399  0.42025645  0.0027816 ] yaw=173.5deg	[env.py: 1019]
+05/11 02:12:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 02:12:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.96615196  0.09436885  0.0027816 ] yaw=143.2deg	[env.py: 1019]
+05/11 02:12:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 02:12:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 02:12:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=153.4ms, total=153.5ms	[env.py: 1075]
+05/11 02:12:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.772, 0.171, 0.003)	[env.py: 1079]
+05/11 02:12:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 168.2 deg	[env.py: 1082]
+05/11 02:12:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.981m	[env.py: 1086]
+05/11 02:12:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 02:12:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 02:12:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 02:12:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 02:12:23 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_m/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 02:12:23 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/11 02:12:23 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 02:12:23 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 02:12:23 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/11 02:12:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s	[base_object_manipulation_planner_policy.py: 377]
+05/11 02:12:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 02:12:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 02:12:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 02:12:24 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.696s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 02:12:24 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.560[m] 93.013[deg]	[grasp_sample.py: 539]
+05/11 02:12:24 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 02:12:25 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 02:12:25 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:12:25 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 02:12:27 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 02:12:30 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:12:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 02:12:36 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 02:12:36 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 12.69s (batch: 3.59s, save: 9.10s)	[pipeline.py: 300]
+05/11 02:12:36 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.46s:
+  episode_total: mean=150.19s, total=150.19s, count=1, min=150187.2ms, max=150187.2ms
+  sensor_polling: mean=351.6ms, total=105.48s, count=300, min=290.8ms, max=664.5ms
+  save_trajectories: mean=9.10s, total=9.10s, count=1, min=9098.4ms, max=9098.4ms
+  physics_step: mean=20.7ms, total=6.21s, count=300, min=17.1ms, max=29.6ms
+  save_batch_prep: mean=3.59s, total=3.59s, count=1, min=3592.5ms, max=3592.5ms
+  task_sampling: mean=460.3ms, total=460.3ms, count=1, min=460.3ms, max=460.3ms
+  task_specific_sample: mean=455.6ms, total=455.6ms, count=1, min=455.6ms, max=455.6ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=625.6us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=29.6us, 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]
+05/11 02:12:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 02:12:38 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 02:12:38 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 02:12:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 02:12:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 02:12:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 02:12:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 02:12:38 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 02:12:38 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]
+05/11 02:12:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 02:12:38 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]
+05/11 02:12:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 02:12:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 02:12:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.043260m	[env.py: 870]
+05/11 02:12:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 02:12:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 02:12:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 02:12:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.62444107  0.54714017  0.04325991] yaw=-171.8deg	[env.py: 1019]
+05/11 02:12:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 02:12:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 103.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 02:12:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -52.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 02:12:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.67693402  0.37256484  0.04325991] yaw=181.7deg	[env.py: 1019]
+05/11 02:12:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 02:12:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.9243447   0.71229741  0.04325991] yaw=-162.5deg	[env.py: 1019]
+05/11 02:12:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 02:12:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 02:12:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=125.7ms, total=125.8ms	[env.py: 1075]
+05/11 02:12:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.624, 0.547, 0.043)	[env.py: 1079]
+05/11 02:12:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -171.8 deg	[env.py: 1082]
+05/11 02:12:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.080m	[env.py: 1086]
+05/11 02:12:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 02:12:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 02:12:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 02:12:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 02:12:38 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 02:12:38 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/11 02:12:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
+05/11 02:12:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 02:12:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 02:12:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.066s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 02:12:39 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.565s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 02:12:39 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.620[m] 90.420[deg]	[grasp_sample.py: 539]
+05/11 02:12:39 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 02:12:39 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 02:12:39 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:12:40 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 02:13:12 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:13:19 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 02:13:23 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:13:27 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 02:13:31 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:13:35 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 02:13:40 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 02:13:44 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:13:48 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 02:13:48 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/11 02:13:48 INFO: [Worker 0] Preparing episode data: 299 timesteps	[save_utils.py: 278]
+05/11 02:14:00 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 02:14:00 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/11 02:14:00 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 02:14:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 02:14:02 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 02:14:02 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 13.64s (batch: 4.55s, save: 9.09s)	[pipeline.py: 300]
+05/11 02:14:03 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.45s:
+  episode_total: mean=154.69s, total=154.69s, count=1, min=154694.0ms, max=154694.0ms
+  sensor_polling: mean=350.8ms, total=104.54s, count=298, min=296.4ms, max=612.5ms
+  save_trajectories: mean=9.09s, total=9.09s, count=1, min=9088.4ms, max=9088.4ms
+  physics_step: mean=19.5ms, total=5.82s, count=298, min=13.9ms, max=30.2ms
+  save_batch_prep: mean=4.55s, total=4.55s, count=1, min=4550.4ms, max=4550.4ms
+  task_sampling: mean=449.1ms, total=449.1ms, count=1, min=449.1ms, max=449.1ms
+  task_specific_sample: mean=444.4ms, total=444.4ms, count=1, min=444.4ms, max=444.4ms
+  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
+  mj_forward_sync: mean=455.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=22.0us, 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]
+05/11 02:14:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 02:14:04 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 02:14:04 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 02:14:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 02:14:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 02:14:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 02:14:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 02:14:04 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 02:14:04 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 02:14:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 02:14:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.039m, effective arm-mount z=0.899m (base_body_z=0.039m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 02:14:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 02:14:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 02:14:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.038563m	[env.py: 870]
+05/11 02:14:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 02:14:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 02:14:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 02:14:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.00626145  0.15239663  0.03856341] yaw=160.9deg	[env.py: 1019]
+05/11 02:14:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 02:14:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 102.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 02:14:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 68.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 02:14:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -70.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 02:14:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 165.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 02:14:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.85457185  1.10556186  0.03856341] yaw=-154.4deg	[env.py: 1019]
+05/11 02:14:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 02:14:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.80386807  0.58201581  0.03856341] yaw=-176.7deg	[env.py: 1019]
+05/11 02:14:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 02:14:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 02:14:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=193.2ms, total=193.2ms	[env.py: 1075]
+05/11 02:14:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.006, 0.152, 0.039)	[env.py: 1079]
+05/11 02:14:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 160.9 deg	[env.py: 1082]
+05/11 02:14:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.770m	[env.py: 1086]
+05/11 02:14:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 02:14:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 02:14:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 02:14:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 02:14:05 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 02:14:05 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/11 02:14:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.093s	[base_object_manipulation_planner_policy.py: 377]
+05/11 02:14:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 02:14:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 02:14:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 02:14:06 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.644s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 02:14:06 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.303[m] 83.125[deg]	[grasp_sample.py: 539]
+05/11 02:14:06 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 02:14:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 02:14:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:14:06 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 02:14:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 02:14:14 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 02:14:14 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 14.40s (batch: 3.80s, save: 10.60s)	[pipeline.py: 300]
+05/11 02:14:15 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.60s:
+  episode_total: mean=164.03s, total=164.03s, count=1, min=164026.0ms, max=164026.0ms
+  sensor_polling: mean=375.7ms, total=112.72s, count=300, min=297.6ms, max=752.3ms
+  save_trajectories: mean=10.60s, total=10.60s, count=1, min=10601.1ms, max=10601.1ms
+  physics_step: mean=21.6ms, total=6.48s, count=300, min=14.1ms, max=44.1ms
+  save_batch_prep: mean=3.80s, total=3.80s, count=1, min=3799.8ms, max=3799.8ms
+  task_sampling: mean=603.1ms, total=603.1ms, count=1, min=603.1ms, max=603.1ms
+  task_specific_sample: mean=599.5ms, total=599.5ms, count=1, min=599.5ms, max=599.5ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=432.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=15.3us, 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]
+05/11 02:14:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 02:14:16 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 02:14:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 02:14:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 02:14:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 02:14:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 02:14:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 02:14:16 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 02:14:16 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 02:14:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 02:14:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.086m, effective arm-mount z=0.946m (base_body_z=0.086m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 02:14:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 02:14:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 02:14:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.086296m	[env.py: 870]
+05/11 02:14:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 02:14:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 02:14:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 02:14:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -63.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 02:14:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.79921949  0.47374489  0.08629586] yaw=182.4deg	[env.py: 1019]
+05/11 02:14:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 02:14:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.67154872  0.68918697  0.08629586] yaw=-169.6deg	[env.py: 1019]
+05/11 02:14:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 02:14:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 65.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 02:14:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 104.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 02:14:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.88079539  0.05371778  0.08629586] yaw=159.1deg	[env.py: 1019]
+05/11 02:14:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 02:14:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 02:14:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=232.2ms, total=232.2ms	[env.py: 1075]
+05/11 02:14:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.799, 0.474, 0.086)	[env.py: 1079]
+05/11 02:14:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 182.4 deg	[env.py: 1082]
+05/11 02:14:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.903m	[env.py: 1086]
+05/11 02:14:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 02:14:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 02:14:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 02:14:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 02:14:17 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 02:14:17 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/11 02:14:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.096s	[base_object_manipulation_planner_policy.py: 377]
+05/11 02:14:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 02:14:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 02:14:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 02:14:17 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.603s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 02:14:17 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.464[m] 93.395[deg]	[grasp_sample.py: 539]
+05/11 02:14:17 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 02:14:18 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 02:14:18 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:14:18 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 02:14:27 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:14:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 02:14:38 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:14:41 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 02:14:48 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 02:14:55 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:15:02 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 02:15:03 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_m/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 02:15:03 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/11 02:15:03 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 02:15:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:15:05 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:15:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:15:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:15:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:15:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:15:10 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 02:15:10 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/11 02:15:10 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 02:15:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:15:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:15:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:15:14 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 02:15:14 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 02:15:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 02:15:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 02:15:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.063s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/11 02:15:14 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.514s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 02:15:14 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.371[deg]	[grasp_sample.py: 539]
+05/11 02:15:15 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 02:15:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 02:15:17 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 02:15:17 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 13.97s (batch: 3.43s, save: 10.54s)	[pipeline.py: 300]
+05/11 02:15:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 02:15:17 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 02:15:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 02:15:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 02:15:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 02:15:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 02:15:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 02:15:17 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 02:15:17 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]
+05/11 02:15:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 02:15:17 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]
+05/11 02:15:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 02:15:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 02:15:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.044330m	[env.py: 870]
+05/11 02:15:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 02:15:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 02:15:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 02:15:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.9945042   0.19718488  0.04432983] yaw=163.7deg	[env.py: 1019]
+05/11 02:15:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 02:15:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.7978677   0.77838414  0.04432983] yaw=-167.0deg	[env.py: 1019]
+05/11 02:15:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 02:15:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -46.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 02:15:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.19416509  1.05094173  0.04432983] yaw=-130.2deg	[env.py: 1019]
+05/11 02:15:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 02:15:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 02:15:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=93.3ms, total=93.3ms	[env.py: 1075]
+05/11 02:15:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.995, 0.197, 0.044)	[env.py: 1079]
+05/11 02:15:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 163.7 deg	[env.py: 1082]
+05/11 02:15:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.763m	[env.py: 1086]
+05/11 02:15:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 02:15:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 02:15:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 02:15:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 02:15:17 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.40s:
+  episode_total: mean=159.70s, total=159.70s, count=1, min=159699.8ms, max=159699.8ms
+  sensor_polling: mean=374.0ms, total=112.21s, count=300, min=300.1ms, max=731.2ms
+  save_trajectories: mean=10.54s, total=10.54s, count=1, min=10540.7ms, max=10540.7ms
+  physics_step: mean=21.8ms, total=6.54s, count=300, min=17.2ms, max=44.4ms
+  save_batch_prep: mean=3.43s, total=3.43s, count=1, min=3429.5ms, max=3429.5ms
+  task_sampling: mean=397.7ms, total=397.7ms, count=1, min=397.7ms, max=397.7ms
+  task_specific_sample: mean=393.6ms, total=393.6ms, count=1, min=393.6ms, max=393.6ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=586.3us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=22.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 02:15:18 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 02:15:18 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/11 02:15:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.055s	[base_object_manipulation_planner_policy.py: 377]
+05/11 02:15:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 02:15:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 02:15:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 02:15:18 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.627s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 02:15:18 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.350[m] 96.827[deg]	[grasp_sample.py: 539]
+05/11 02:15:18 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 02:15:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 02:15:19 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 02:15:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 02:15:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 02:15:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 02:15:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 02:15:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 02:15:19 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 02:15:19 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 02:15:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 02:15:19 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]
+05/11 02:15:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 02:15:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 02:15:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.063255m	[env.py: 870]
+05/11 02:15:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 02:15:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 02:15:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 02:15:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:15:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 02:15:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.89425584  1.07370076  0.06325455] yaw=-136.0deg	[env.py: 1019]
+05/11 02:15:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 02:15:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -56.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 02:15:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.72212523  0.26719531  0.06325455] yaw=175.3deg	[env.py: 1019]
+05/11 02:15:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 02:15:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.94051562  0.42197137  0.06325455] yaw=165.9deg	[env.py: 1019]
+05/11 02:15:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 02:15:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 02:15:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=105.7ms, total=105.8ms	[env.py: 1075]
+05/11 02:15:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.894, 1.074, 0.063)	[env.py: 1079]
+05/11 02:15:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -136.0 deg	[env.py: 1082]
+05/11 02:15:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.002m	[env.py: 1086]
+05/11 02:15:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 02:15:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 02:15:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 02:15:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 02:15:19 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 02:15:19 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/11 02:15:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
+05/11 02:15:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 02:15:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 02:15:19 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 02:15:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 02:15:20 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.326s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 02:15:20 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.597[m] 88.072[deg]	[grasp_sample.py: 539]
+05/11 02:15:22 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 02:15:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 02:15:23 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 02:15:23 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 02:15:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 02:15:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 02:15:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 02:15:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 02:15:23 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 02:15:23 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]
+05/11 02:15:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 02:15:23 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]
+05/11 02:15:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 02:15:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 02:15:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.097996m	[env.py: 870]
+05/11 02:15:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 02:15:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 02:15:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 02:15:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.74866726  0.08444821  0.0979965 ] yaw=157.7deg	[env.py: 1019]
+05/11 02:15:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 02:15:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -166.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 02:15:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -52.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 02:15:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 73.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 02:15:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.79547717  0.87012075  0.0979965 ] yaw=-152.8deg	[env.py: 1019]
+05/11 02:15:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 02:15:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.11027927  1.14200915  0.0979965 ] yaw=-138.5deg	[env.py: 1019]
+05/11 02:15:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 02:15:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 02:15:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=114.8ms, total=114.9ms	[env.py: 1075]
+05/11 02:15:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.749, 0.084, 0.098)	[env.py: 1079]
+05/11 02:15:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 157.7 deg	[env.py: 1082]
+05/11 02:15:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.033m	[env.py: 1086]
+05/11 02:15:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 02:15:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 02:15:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 02:15:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 02:15:24 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 02:15:24 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/11 02:15:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s	[base_object_manipulation_planner_policy.py: 377]
+05/11 02:15:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 02:15:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 02:15:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 02:15:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 02:15:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 02:15:24 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 13.87s (batch: 4.19s, save: 9.68s)	[pipeline.py: 300]
+05/11 02:15:25 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.35s:
+  episode_total: mean=181.69s, total=181.69s, count=1, min=181690.1ms, max=181690.1ms
+  sensor_polling: mean=399.7ms, total=119.90s, count=300, min=286.9ms, max=874.9ms
+  save_trajectories: mean=9.68s, total=9.68s, count=1, min=9679.8ms, max=9679.8ms
+  physics_step: mean=21.6ms, total=6.49s, count=300, min=17.0ms, max=39.8ms
+  save_batch_prep: mean=4.19s, total=4.19s, count=1, min=4189.3ms, max=4189.3ms
+  task_sampling: mean=347.9ms, total=347.9ms, count=1, min=347.9ms, max=347.9ms
+  task_specific_sample: mean=344.9ms, total=344.9ms, count=1, min=344.9ms, max=344.9ms
+  scene_randomize: mean=2.0ms, total=2.0ms, count=1, min=2.0ms, max=2.0ms
+  mj_forward_sync: mean=339.0us, total=0.3ms, count=1, min=0.3ms, max=0.3ms
+  policy_setup: mean=13.2us, 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]
+05/11 02:15:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 02:15:26 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 02:15:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 02:15:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 02:15:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 02:15:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 02:15:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 02:15:26 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 02:15:26 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]
+05/11 02:15:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 02:15:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.082m, effective arm-mount z=0.942m (base_body_z=0.082m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 02:15:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 02:15:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 02:15:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.082029m	[env.py: 870]
+05/11 02:15:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 02:15:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 02:15:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 02:15:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.65598203  0.26848742  0.08202929] yaw=162.8deg	[env.py: 1019]
+05/11 02:15:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 02:15:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -31.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 02:15:26 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.446s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 02:15:26 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.581[m] 83.490[deg]	[grasp_sample.py: 539]
+05/11 02:15:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 82.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 02:15:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -169.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 02:15:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.89084564  0.78815031  0.08202929] yaw=-164.0deg	[env.py: 1019]
+05/11 02:15:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 02:15:26 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 02:15:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.68519369  0.26287963  0.08202929] yaw=165.5deg	[env.py: 1019]
+05/11 02:15:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 02:15:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 02:15:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=318.3ms, total=318.4ms	[env.py: 1075]
+05/11 02:15:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.656, 0.268, 0.082)	[env.py: 1079]
+05/11 02:15:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 162.8 deg	[env.py: 1082]
+05/11 02:15:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.068m	[env.py: 1086]
+05/11 02:15:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 02:15:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 02:15:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 02:15:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 02:15:26 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 02:15:26 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/11 02:15:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
+05/11 02:15:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 02:15:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 02:15:27 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 02:15:27 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:15:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 02:15:27 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 02:15:27 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.789s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 02:15:27 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.668[m] 100.527[deg]	[grasp_sample.py: 539]
+05/11 02:15:27 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 02:15:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 02:15:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:15:28 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 02:15:45 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:15:52 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 02:15:55 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:16:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:16:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:16:18 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 02:16:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:16:19 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 02:16:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:16:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:16:23 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:16:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:16:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:16:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:16:27 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:16:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:16:27 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 02:16:27 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 02:16:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 02:16:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 02:16:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.062s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/11 02:16:28 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.495s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 02:16:28 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.515[deg]	[grasp_sample.py: 539]
+05/11 02:16:29 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 02:16:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 02:16:31 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 02:16:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 02:16:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 02:16:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 02:16:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 02:16:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 02:16:31 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 02:16:31 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]
+05/11 02:16:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 02:16:31 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]
+05/11 02:16:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 02:16:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 02:16:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.011686m	[env.py: 870]
+05/11 02:16:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 02:16:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 02:16:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 02:16:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -63.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 02:16:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -42.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 02:16:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.87694953  0.10937675  0.01168609] yaw=156.5deg	[env.py: 1019]
+05/11 02:16:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 02:16:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 72.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 02:16:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -64.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 02:16:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.70279871  0.70602156  0.01168609] yaw=-173.0deg	[env.py: 1019]
+05/11 02:16:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 02:16:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.82335502  1.02676915  0.01168609] yaw=-144.7deg	[env.py: 1019]
+05/11 02:16:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 02:16:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 02:16:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=208.5ms, total=208.6ms	[env.py: 1075]
+05/11 02:16:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.877, 0.109, 0.012)	[env.py: 1079]
+05/11 02:16:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 156.5 deg	[env.py: 1082]
+05/11 02:16:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.906m	[env.py: 1086]
+05/11 02:16:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 02:16:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 02:16:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 02:16:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 02:16:32 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 02:16:32 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/11 02:16:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s	[base_object_manipulation_planner_policy.py: 377]
+05/11 02:16:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 02:16:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 02:16:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 02:16:33 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.841s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 02:16:33 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.487[m] 97.814[deg]	[grasp_sample.py: 539]
+05/11 02:16:33 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 02:16:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 02:16:33 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:16:34 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 02:16:35 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 02:16:39 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:16:41 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_m/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 02:16:41 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/11 02:16:41 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 02:16:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:16:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 02:16:52 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 02:16:52 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 11.74s (batch: 3.31s, save: 8.43s)	[pipeline.py: 300]
+05/11 02:16:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:16:53 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.52s:
+  episode_total: mean=156.95s, total=156.95s, count=1, min=156948.3ms, max=156948.3ms
+  sensor_polling: mean=371.2ms, total=111.35s, count=300, min=289.3ms, max=773.0ms
+  save_trajectories: mean=8.43s, total=8.43s, count=1, min=8430.6ms, max=8430.6ms
+  physics_step: mean=22.6ms, total=6.77s, count=300, min=14.5ms, max=31.3ms
+  save_batch_prep: mean=3.31s, total=3.31s, count=1, min=3305.1ms, max=3305.1ms
+  task_sampling: mean=523.7ms, total=523.7ms, count=1, min=523.7ms, max=523.7ms
+  task_specific_sample: mean=519.5ms, total=519.5ms, count=1, min=519.5ms, max=519.5ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=620.7us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  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]
+05/11 02:16:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:16:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 02:16:54 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 02:16:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 02:16:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 02:16:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 02:16:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 02:16:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 02:16:54 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 02:16:54 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]
+05/11 02:16:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 02:16:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.029m, effective arm-mount z=0.889m (base_body_z=0.029m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 02:16:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 02:16:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 02:16:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.028536m	[env.py: 870]
+05/11 02:16:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 02:16:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 02:16:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 02:16:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.78530087  0.66816756  0.02853603] yaw=-170.5deg	[env.py: 1019]
+05/11 02:16:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 02:16:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -47.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 02:16:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.91007414  0.16364638  0.02853603] yaw=163.0deg	[env.py: 1019]
+05/11 02:16:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 02:16:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -36.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 02:16:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 66.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 02:16:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.06073153  1.0692558   0.02853603] yaw=-130.3deg	[env.py: 1019]
+05/11 02:16:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 02:16:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 02:16:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=134.8ms, total=134.8ms	[env.py: 1075]
+05/11 02:16:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.785, 0.668, 0.029)	[env.py: 1079]
+05/11 02:16:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -170.5 deg	[env.py: 1082]
+05/11 02:16:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.936m	[env.py: 1086]
+05/11 02:16:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 02:16:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 02:16:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 02:16:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 02:16:55 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 02:16:55 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/11 02:16:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s	[base_object_manipulation_planner_policy.py: 377]
+05/11 02:16:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 02:16:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 02:16:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 02:16:56 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.733s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 02:16:56 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.531[m] 93.567[deg]	[grasp_sample.py: 539]
+05/11 02:16:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:16:56 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 02:16:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 02:16:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:16:57 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 02:16:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:16:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:17:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:17:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:17:02 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 02:17:02 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 02:17:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 02:17:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 02:17:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/11 02:17:02 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.456s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 02:17:02 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.312[deg]	[grasp_sample.py: 539]
+05/11 02:17:02 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 02:17:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 02:17:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:17:07 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:17:09 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:17:15 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 02:17:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 02:17:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:17:19 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:17:19 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:17:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:17:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:17:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:17:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:17:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:17:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:17:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:17:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:17:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:17:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:17:28 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 02:17:28 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 02:17:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 02:17:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 02:17:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/11 02:17:28 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.423s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 02:17:28 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.032[m] 0.350[deg]	[grasp_sample.py: 539]
+05/11 02:17:28 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 02:17:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:17:29 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 02:17:29 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:17:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:17:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:17:33 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:17:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:17:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:17:35 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 02:17:35 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 02:17:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 02:17:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 02:17:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/11 02:17:36 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:17:36 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.619s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 02:17:36 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.029[m] 3.906[deg]	[grasp_sample.py: 539]
+05/11 02:17:36 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 02:17:37 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 02:17:37 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:17:38 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 02:17:40 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:17:44 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 02:17:48 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:17:49 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 02:17:53 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:17:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:17:58 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_m/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 02:17:58 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/11 02:17:58 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 02:17:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:18:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:18:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:18:03 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/11 02:18:03 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=False episode_total=0.57s:
+  episode_total: mean=156.98s, total=156.98s, count=1, min=156975.5ms, max=156975.5ms
+  sensor_polling: mean=406.6ms, total=121.99s, count=300, min=311.9ms, max=804.8ms
+  physics_step: mean=21.9ms, total=6.56s, count=300, min=12.2ms, max=41.3ms
+  task_sampling: mean=569.2ms, total=569.2ms, count=1, min=569.2ms, max=569.2ms
+  task_specific_sample: mean=565.1ms, total=565.1ms, count=1, min=565.1ms, max=565.1ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=571.9us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=15.2us, 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]
+05/11 02:18:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 02:18:04 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 02:18:04 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 02:18:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 02:18:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 02:18:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 02:18:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 02:18:04 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 02:18:04 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 02:18:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 02:18:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.024m, effective arm-mount z=0.884m (base_body_z=0.024m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 02:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 02:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 02:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.023995m	[env.py: 870]
+05/11 02:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 02:18:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 02:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 02:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 83.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 02:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -172.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 02:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.78784281  0.9010276   0.02399453] yaw=-150.8deg	[env.py: 1019]
+05/11 02:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 02:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 170.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 02:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -69.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 02:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.91123588  0.11963236  0.02399453] yaw=157.3deg	[env.py: 1019]
+05/11 02:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 02:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.92450234  0.44420095  0.02399453] yaw=181.6deg	[env.py: 1019]
+05/11 02:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 02:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 02:18:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=160.2ms, total=160.2ms	[env.py: 1075]
+05/11 02:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.788, 0.901, 0.024)	[env.py: 1079]
+05/11 02:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -150.8 deg	[env.py: 1082]
+05/11 02:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.006m	[env.py: 1086]
+05/11 02:18:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 02:18:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 02:18:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 02:18:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 02:18:05 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 02:18:05 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/11 02:18:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s	[base_object_manipulation_planner_policy.py: 377]
+05/11 02:18:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 02:18:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 02:18:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 02:18:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:18:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:18:06 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.718s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 02:18:06 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.548[m] 85.767[deg]	[grasp_sample.py: 539]
+05/11 02:18:06 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 02:18:07 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 02:18:07 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:18:07 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 02:18:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:18:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 02:18:11 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 02:18:11 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 13.03s (batch: 4.50s, save: 8.54s)	[pipeline.py: 300]
+05/11 02:18:12 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.63s:
+  episode_total: mean=85.79s, total=171.59s, count=2, min=3086.8ms, max=168500.0ms
+  sensor_polling: mean=366.2ms, total=109.86s, count=300, min=294.2ms, max=725.3ms
+  save_trajectories: mean=8.54s, total=8.54s, count=1, min=8537.6ms, max=8537.6ms
+  physics_step: mean=21.7ms, total=6.50s, count=300, min=13.1ms, max=51.8ms
+  save_batch_prep: mean=4.50s, total=4.50s, count=1, min=4496.3ms, max=4496.3ms
+  task_sampling: mean=317.0ms, total=634.1ms, count=2, min=311.9ms, max=322.2ms
+  task_specific_sample: mean=313.0ms, total=626.0ms, count=2, min=307.3ms, max=318.6ms
+  scene_randomize: mean=2.0ms, total=4.1ms, count=2, min=2.0ms, max=2.1ms
+  mj_forward_sync: mean=489.9us, total=1.0ms, count=2, min=0.4ms, max=0.6ms
+  policy_setup: mean=25.0us, total=0.1ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 02:18:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 02:18:13 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 02:18:13 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 02:18:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 02:18:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 02:18:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 02:18:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 02:18:13 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 02:18:13 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]
+05/11 02:18:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 02:18:13 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]
+05/11 02:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 02:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 02:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.007453m	[env.py: 870]
+05/11 02:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 02:18:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 02:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 02:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -168.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 02:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 119.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 02:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -45.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 02:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.89674651  0.19619337  0.00745253] yaw=153.3deg	[env.py: 1019]
+05/11 02:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 02:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 89.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 02:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.85450379  0.13312357  0.00745253] yaw=158.0deg	[env.py: 1019]
+05/11 02:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 02:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.93558725  0.15428101  0.00745253] yaw=164.5deg	[env.py: 1019]
+05/11 02:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 02:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 02:18:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=329.8ms, total=329.9ms	[env.py: 1075]
+05/11 02:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.897, 0.196, 0.007)	[env.py: 1079]
+05/11 02:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 153.3 deg	[env.py: 1082]
+05/11 02:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.855m	[env.py: 1086]
+05/11 02:18:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 02:18:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 02:18:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 02:18:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 02:18:14 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 02:18:14 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/11 02:18:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s	[base_object_manipulation_planner_policy.py: 377]
+05/11 02:18:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 02:18:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 02:18:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 02:18:14 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.574s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 02:18:14 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.430[m] 91.036[deg]	[grasp_sample.py: 539]
+05/11 02:18:14 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 02:18:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 02:18:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:18:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:18:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:18:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:18:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:18:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:18:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:18:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:18:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:18:34 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 02:18:34 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 02:18:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 02:18:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 02:18:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.063s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/11 02:18:35 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.495s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 02:18:35 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.050[m] 0.339[deg]	[grasp_sample.py: 539]
+05/11 02:18:35 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 02:18:35 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 02:18:35 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:18:40 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:18:47 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 02:18:47 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 02:18:52 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:18:56 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 02:18:56 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:19:00 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 02:19:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 02:19:04 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:19:07 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:19:08 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 02:19:08 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/11 02:19:08 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 02:19:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 02:19:22 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 02:19:22 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 13.11s (batch: 3.86s, save: 9.25s)	[pipeline.py: 300]
+05/11 02:19:22 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_m/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 02:19:22 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/11 02:19:22 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 02:19:22 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=1.21s:
+  episode_total: mean=104.66s, total=313.99s, count=3, min=70872.7ms, max=171247.7ms
+  sensor_polling: mean=354.8ms, total=217.15s, count=612, min=287.0ms, max=566.3ms
+  physics_step: mean=20.3ms, total=12.40s, count=612, min=12.7ms, max=31.8ms
+  save_trajectories: mean=9.25s, total=9.25s, count=1, min=9245.5ms, max=9245.5ms
+  save_batch_prep: mean=3.86s, total=3.86s, count=1, min=3860.9ms, max=3860.9ms
+  task_sampling: mean=403.6ms, total=1.21s, count=3, min=286.9ms, max=483.8ms
+  task_specific_sample: mean=399.4ms, total=1.20s, count=3, min=283.1ms, max=479.1ms
+  scene_randomize: mean=1.7ms, total=5.2ms, count=3, min=1.2ms, max=2.5ms
+  mj_forward_sync: mean=396.9us, total=1.2ms, count=3, min=0.4ms, max=0.4ms
+  policy_setup: mean=21.0us, 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]
+05/11 02:19:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 02:19:24 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 02:19:24 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 02:19:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 02:19:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 02:19:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 02:19:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 02:19:24 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 02:19:24 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]
+05/11 02:19:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 02:19:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.030m, effective arm-mount z=0.890m (base_body_z=0.030m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 02:19:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 02:19:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 02:19:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.029724m	[env.py: 870]
+05/11 02:19:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 02:19:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 02:19:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 02:19:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.77251118  0.93158771  0.0297243 ] yaw=-145.0deg	[env.py: 1019]
+05/11 02:19:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 02:19:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.87578583  1.05013452  0.0297243 ] yaw=-147.9deg	[env.py: 1019]
+05/11 02:19:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 02:19:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.89591453  0.95442135  0.0297243 ] yaw=-152.7deg	[env.py: 1019]
+05/11 02:19:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 02:19:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 02:19:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=86.4ms, total=86.5ms	[env.py: 1075]
+05/11 02:19:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.773, 0.932, 0.030)	[env.py: 1079]
+05/11 02:19:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -145.0 deg	[env.py: 1082]
+05/11 02:19:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.033m	[env.py: 1086]
+05/11 02:19:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 02:19:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 02:19:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 02:19:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 02:19:24 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 02:19:24 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/11 02:19:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s	[base_object_manipulation_planner_policy.py: 377]
+05/11 02:19:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 02:19:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 02:19:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 02:19:27 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.168s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 02:19:27 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.620[m] 86.227[deg]	[grasp_sample.py: 539]
+05/11 02:19:28 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 02:19:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 02:19:29 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 02:19:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 02:19:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 02:19:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 02:19:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 02:19:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 02:19:29 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 02:19:29 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]
+05/11 02:19:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 02:19:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.000m, effective arm-mount z=0.860m (base_body_z=0.000m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 02:19:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 02:19:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 02:19:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.000203m	[env.py: 870]
+05/11 02:19:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 02:19:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 02:19:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 02:19:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-6.93692899e-01  6.08836384e-01  2.02809855e-04] yaw=-168.9deg	[env.py: 1019]
+05/11 02:19:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 02:19:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 122.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 02:19:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-6.93214785e-01  8.35195659e-01  2.02809855e-04] yaw=-154.1deg	[env.py: 1019]
+05/11 02:19:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 02:19:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -48.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 02:19:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 67.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 02:19:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-7.46995138e-01 -3.88648063e-02  2.02809855e-04] yaw=162.2deg	[env.py: 1019]
+05/11 02:19:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 02:19:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 02:19:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=149.4ms, total=149.5ms	[env.py: 1075]
+05/11 02:19:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.694, 0.609, 0.000)	[env.py: 1079]
+05/11 02:19:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -168.9 deg	[env.py: 1082]
+05/11 02:19:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.017m	[env.py: 1086]
+05/11 02:19:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 02:19:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 02:19:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 02:19:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 02:19:30 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 02:19:30 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/11 02:19:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s	[base_object_manipulation_planner_policy.py: 377]
+05/11 02:19:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 02:19:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 02:19:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 02:19:30 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.695s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 02:19:30 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.570[m] 88.355[deg]	[grasp_sample.py: 539]
+05/11 02:19:31 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 02:19:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 02:19:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:19:31 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 02:19:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 02:19:37 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 02:19:37 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 15.75s (batch: 6.55s, save: 9.20s)	[pipeline.py: 300]
+05/11 02:19:38 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.41s:
+  episode_total: mean=163.72s, total=163.72s, count=1, min=163717.3ms, max=163717.3ms
+  sensor_polling: mean=370.8ms, total=111.24s, count=300, min=294.3ms, max=818.9ms
+  save_trajectories: mean=9.20s, total=9.20s, count=1, min=9202.2ms, max=9202.2ms
+  save_batch_prep: mean=6.55s, total=6.55s, count=1, min=6552.8ms, max=6552.8ms
+  physics_step: mean=21.0ms, total=6.30s, count=300, min=16.9ms, max=28.9ms
+  task_sampling: mean=406.0ms, total=406.0ms, count=1, min=406.0ms, max=406.0ms
+  task_specific_sample: mean=402.3ms, total=402.3ms, count=1, min=402.3ms, max=402.3ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=373.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=14.7us, 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]
+05/11 02:19:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 02:19:40 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 02:19:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 02:19:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 02:19:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 02:19:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 02:19:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 02:19:40 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 02:19:40 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 02:19:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 02:19:40 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]
+05/11 02:19:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 02:19:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 02:19:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.074205m	[env.py: 870]
+05/11 02:19:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 02:19:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 02:19:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 02:19:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 103.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 02:19:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 76.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 02:19:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 56.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 02:19:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 63.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 02:19:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 82.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 02:19:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.84409769  1.01373073  0.07420482] yaw=-146.8deg	[env.py: 1019]
+05/11 02:19:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 02:19:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 02:19:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=211.9ms, total=211.9ms	[env.py: 1075]
+05/11 02:19:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.844, 1.014, 0.074)	[env.py: 1079]
+05/11 02:19:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -146.8 deg	[env.py: 1082]
+05/11 02:19:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.010m	[env.py: 1086]
+05/11 02:19:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 02:19:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 02:19:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 02:19:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 02:19:41 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 02:19:41 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/11 02:19:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.143s	[base_object_manipulation_planner_policy.py: 377]
+05/11 02:19:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 02:19:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 02:19:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 02:19:44 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.294s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 02:19:44 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.614[m] 90.318[deg]	[grasp_sample.py: 539]
+05/11 02:19:44 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 02:19:45 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 02:19:45 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:19:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:19:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:19:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:19:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:19:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:20:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:20:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:20:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:20:03 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 02:20:03 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 02:20:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 02:20:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 02:20:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.105s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/11 02:20:04 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.348s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 02:20:04 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.159[deg]	[grasp_sample.py: 539]
+05/11 02:20:05 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 02:20:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 02:20:06 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 02:20:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 02:20:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 02:20:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 02:20:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 02:20:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 02:20:06 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 02:20:06 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]
+05/11 02:20:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 02:20:06 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]
+05/11 02:20:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 02:20:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 02:20:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.097610m	[env.py: 870]
+05/11 02:20:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 02:20:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 02:20:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 02:20:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -35.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 02:20:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.01330322  1.281332    0.0976102 ] yaw=-124.6deg	[env.py: 1019]
+05/11 02:20:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 02:20:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.00619263  1.11760312  0.0976102 ] yaw=-130.7deg	[env.py: 1019]
+05/11 02:20:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 02:20:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.0464105   0.94960586  0.0976102 ] yaw=-138.8deg	[env.py: 1019]
+05/11 02:20:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 02:20:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 02:20:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=130.7ms, total=130.8ms	[env.py: 1075]
+05/11 02:20:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.013, 1.281, 0.098)	[env.py: 1079]
+05/11 02:20:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -124.6 deg	[env.py: 1082]
+05/11 02:20:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.055m	[env.py: 1086]
+05/11 02:20:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 02:20:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 02:20:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 02:20:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 02:20:07 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 02:20:07 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/11 02:20:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s	[base_object_manipulation_planner_policy.py: 377]
+05/11 02:20:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 02:20:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 02:20:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 02:20:08 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.352s, found feasible grasp: False	[grasp_sample.py: 500]
+05/11 02:20:08 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/11 02:20:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 02:20:09 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 02:20:09 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 02:20:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 02:20:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 02:20:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 02:20:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 02:20:09 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 02:20:09 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]
+05/11 02:20:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 02:20:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.096m, effective arm-mount z=0.956m (base_body_z=0.096m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 02:20:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 02:20:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 02:20:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.095680m	[env.py: 870]
+05/11 02:20:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 02:20:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 02:20:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 02:20:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 105.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 02:20:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -60.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 02:20:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 81.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 02:20:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 121.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 02:20:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 104.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 02:20:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.15183182  1.14879465  0.09567952] yaw=-135.4deg	[env.py: 1019]
+05/11 02:20:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 02:20:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.75646848  0.13655889  0.09567952] yaw=167.3deg	[env.py: 1019]
+05/11 02:20:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 02:20:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 02:20:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=218.5ms, total=218.5ms	[env.py: 1075]
+05/11 02:20:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.152, 1.149, 0.096)	[env.py: 1079]
+05/11 02:20:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -135.4 deg	[env.py: 1082]
+05/11 02:20:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.865m	[env.py: 1086]
+05/11 02:20:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 02:20:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 02:20:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 02:20:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 02:20:10 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 02:20:10 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/11 02:20:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s	[base_object_manipulation_planner_policy.py: 377]
+05/11 02:20:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 02:20:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 02:20:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 02:20:14 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:20:14 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 02:20:14 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.173s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 02:20:14 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.507[m] 103.684[deg]	[grasp_sample.py: 539]
+05/11 02:20:14 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 02:20:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 02:20:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:20:21 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 02:20:25 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:20:31 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:20:37 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 02:20:37 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/11 02:20:37 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 02:20:38 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 02:20:41 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:20:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 02:20:49 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 02:20:49 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 11.93s (batch: 3.51s, save: 8.42s)	[pipeline.py: 300]
+05/11 02:20:49 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.36s:
+  episode_total: mean=165.21s, total=165.21s, count=1, min=165206.7ms, max=165206.7ms
+  sensor_polling: mean=395.0ms, total=118.49s, count=300, min=275.0ms, max=808.9ms
+  save_trajectories: mean=8.42s, total=8.42s, count=1, min=8418.3ms, max=8418.3ms
+  physics_step: mean=22.0ms, total=6.59s, count=300, min=13.8ms, max=51.7ms
+  save_batch_prep: mean=3.51s, total=3.51s, count=1, min=3507.0ms, max=3507.0ms
+  task_sampling: mean=358.3ms, total=358.3ms, count=1, min=358.3ms, max=358.3ms
+  task_specific_sample: mean=355.6ms, total=355.6ms, count=1, min=355.6ms, max=355.6ms
+  scene_randomize: mean=954.2us, total=1.0ms, count=1, min=1.0ms, max=1.0ms
+  mj_forward_sync: mean=334.7us, total=0.3ms, count=1, min=0.3ms, max=0.3ms
+  policy_setup: mean=13.1us, 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]
+05/11 02:20:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 02:20:51 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 02:20:51 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 02:20:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 02:20:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 02:20:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 02:20:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 02:20:51 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 02:20:51 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]
+05/11 02:20:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 02:20:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.015m, effective arm-mount z=0.875m (base_body_z=0.015m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 02:20:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 02:20:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 02:20:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.014799m	[env.py: 870]
+05/11 02:20:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 02:20:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 02:20:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 02:20:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.15878374  1.05644138  0.01479882] yaw=-141.1deg	[env.py: 1019]
+05/11 02:20:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 02:20:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 89.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 02:20:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.76549508  0.38802445  0.01479882] yaw=168.4deg	[env.py: 1019]
+05/11 02:20:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 02:20:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 124.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 02:20:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 96.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 02:20:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.79772125  0.89837257  0.01479882] yaw=-145.9deg	[env.py: 1019]
+05/11 02:20:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 02:20:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 02:20:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=288.9ms, total=288.9ms	[env.py: 1075]
+05/11 02:20:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.159, 1.056, 0.015)	[env.py: 1079]
+05/11 02:20:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -141.1 deg	[env.py: 1082]
+05/11 02:20:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.791m	[env.py: 1086]
+05/11 02:20:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 02:20:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 02:20:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 02:20:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 02:20:51 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 02:20:51 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/11 02:20:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s	[base_object_manipulation_planner_policy.py: 377]
+05/11 02:20:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 02:20:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 02:20:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.063s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 02:20:52 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:20:52 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.529s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 02:20:52 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.358[m] 82.924[deg]	[grasp_sample.py: 539]
+05/11 02:20:52 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 02:20:52 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 02:20:52 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:20:59 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 02:21:03 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:21:24 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:21:26 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 02:21:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 02:21:36 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:21:44 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 02:21:47 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_m/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 02:21:47 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/11 02:21:47 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 02:21:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:21:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:21:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:21:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:21:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:21:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:21:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:21:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:21:59 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 02:21:59 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 02:21:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 02:21:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 02:21:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/11 02:22:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 02:22:00 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 02:22:00 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 13.34s (batch: 4.23s, save: 9.10s)	[pipeline.py: 300]
+05/11 02:22:01 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.69s:
+  episode_total: mean=77.50s, total=154.99s, count=2, min=3635.1ms, max=151357.7ms
+  sensor_polling: mean=356.8ms, total=107.05s, count=300, min=307.9ms, max=582.9ms
+  save_trajectories: mean=9.10s, total=9.10s, count=1, min=9102.1ms, max=9102.1ms
+  physics_step: mean=20.3ms, total=6.08s, count=300, min=13.9ms, max=28.9ms
+  save_batch_prep: mean=4.23s, total=4.23s, count=1, min=4234.2ms, max=4234.2ms
+  task_sampling: mean=342.5ms, total=685.0ms, count=2, min=336.7ms, max=348.4ms
+  task_specific_sample: mean=338.6ms, total=677.1ms, count=2, min=332.4ms, max=344.7ms
+  scene_randomize: mean=2.0ms, total=4.0ms, count=2, min=1.3ms, max=2.7ms
+  mj_forward_sync: mean=446.5us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=21.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 02:22:01 INFO: [Worker 0] Feasibility-checked 78 grasps in 2.026s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 02:22:01 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.108[m] 0.113[deg]	[grasp_sample.py: 539]
+05/11 02:22:02 WARNING: [Worker 0] No trajectory data to save for chunk_002	[pipeline.py: 234]
+05/11 02:22:02 WARNING: [Worker 0] No trajectory data to save for chunk_002	[pipeline.py: 234]
+05/11 02:22:02 INFO: [Worker 0] Worker 0 completed house 1: 10/12 successful episodes	[pipeline.py: 1323]
+05/11 02:22:02 INFO: [Worker 0] [PROFILE] House 1 complete: 10/12 successful, 12 episodes, total_time=4195.73s
+  House averages:
+  episode_total: mean=127.91s, total=2302.40s, count=18, min=2486.9ms, max=187038.5ms
+  sensor_polling: mean=383.1ms, total=1644.72s, count=4293, min=287.0ms, max=782.0ms
+  save_trajectories: mean=9.07s, total=90.72s, count=10, min=8578.7ms, max=9426.8ms
+  physics_step: mean=20.8ms, total=89.09s, count=4293, min=12.3ms, max=49.7ms
+  save_batch_prep: mean=4.19s, total=41.87s, count=10, min=3417.7ms, max=4838.7ms
+  task_sampling: mean=633.2ms, total=11.40s, count=18, min=286.9ms, max=3750.7ms
+  task_specific_sample: mean=450.4ms, total=8.11s, count=18, min=283.1ms, max=717.4ms
+  scene_load: mean=3.21s, total=3.21s, count=1, min=3208.8ms, max=3208.8ms
+  scene_env_create: mean=2.03s, total=2.03s, count=1, min=2027.2ms, max=2027.2ms
+  scene_compile: mean=817.5ms, total=817.5ms, count=1, min=817.5ms, max=817.5ms
+  compile_mujoco: mean=498.8ms, total=498.8ms, count=1, min=498.8ms, max=498.8ms
+  scene_init: mean=279.2ms, total=279.2ms, count=1, min=279.2ms, max=279.2ms
+  compile_xml_load: mean=221.4ms, total=221.4ms, count=1, min=221.4ms, max=221.4ms
+  scene_asset_install: mean=84.6ms, total=84.6ms, count=1, min=84.6ms, max=84.6ms
+  compile_aux_objects: mean=78.4ms, total=78.4ms, count=1, min=78.4ms, max=78.4ms
+  compile_aux_policy_objects: mean=78.4ms, total=78.4ms, count=1, min=78.4ms, max=78.4ms
+  asset_install_grasps: mean=65.3ms, total=65.3ms, count=1, min=65.3ms, max=65.3ms
+  scene_randomize: mean=2.4ms, total=42.8ms, count=18, min=1.2ms, max=5.4ms
+  asset_install_objects: mean=13.6ms, total=13.6ms, count=1, min=13.6ms, max=13.6ms
+  compile_robot_add: mean=8.7ms, total=8.7ms, count=1, min=8.7ms, max=8.7ms
+  mj_forward_sync: mean=440.5us, total=7.9ms, count=18, min=0.4ms, max=0.6ms
+  asset_install_scene: mean=5.8ms, total=5.8ms, count=1, min=5.8ms, max=5.8ms
+  policy_setup: mean=22.4us, 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]
+05/11 02:22:02 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/11 02:22:02 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 12 episodes, total_time=4195.73s
+  Worker averages:
+  episode_total: mean=127.91s, total=2302.40s, count=18, min=2486.9ms, max=187038.5ms
+  sensor_polling: mean=383.1ms, total=1644.72s, count=4293, min=287.0ms, max=782.0ms
+  save_trajectories: mean=9.07s, total=90.72s, count=10, min=8578.7ms, max=9426.8ms
+  physics_step: mean=20.8ms, total=89.09s, count=4293, min=12.3ms, max=49.7ms
+  save_batch_prep: mean=4.19s, total=41.87s, count=10, min=3417.7ms, max=4838.7ms
+  task_sampling: mean=633.2ms, total=11.40s, count=18, min=286.9ms, max=3750.7ms
+  task_specific_sample: mean=450.4ms, total=8.11s, count=18, min=283.1ms, max=717.4ms
+  scene_load: mean=3.21s, total=3.21s, count=1, min=3208.8ms, max=3208.8ms
+  scene_env_create: mean=2.03s, total=2.03s, count=1, min=2027.2ms, max=2027.2ms
+  scene_compile: mean=817.5ms, total=817.5ms, count=1, min=817.5ms, max=817.5ms
+  compile_mujoco: mean=498.8ms, total=498.8ms, count=1, min=498.8ms, max=498.8ms
+  scene_init: mean=279.2ms, total=279.2ms, count=1, min=279.2ms, max=279.2ms
+  compile_xml_load: mean=221.4ms, total=221.4ms, count=1, min=221.4ms, max=221.4ms
+  scene_asset_install: mean=84.6ms, total=84.6ms, count=1, min=84.6ms, max=84.6ms
+  compile_aux_objects: mean=78.4ms, total=78.4ms, count=1, min=78.4ms, max=78.4ms
+  compile_aux_policy_objects: mean=78.4ms, total=78.4ms, count=1, min=78.4ms, max=78.4ms
+  asset_install_grasps: mean=65.3ms, total=65.3ms, count=1, min=65.3ms, max=65.3ms
+  scene_randomize: mean=2.4ms, total=42.8ms, count=18, min=1.2ms, max=5.4ms
+  asset_install_objects: mean=13.6ms, total=13.6ms, count=1, min=13.6ms, max=13.6ms
+  compile_robot_add: mean=8.7ms, total=8.7ms, count=1, min=8.7ms, max=8.7ms
+  mj_forward_sync: mean=440.5us, total=7.9ms, count=18, min=0.4ms, max=0.6ms
+  asset_install_scene: mean=5.8ms, total=5.8ms, count=1, min=5.8ms, max=5.8ms
+  policy_setup: mean=22.4us, 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]
+05/11 02:22:03 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 02:22:04 WARNING: [Worker 0] No trajectory data to save for chunk_002	[pipeline.py: 234]
+05/11 02:22:04 WARNING: [Worker 0] No trajectory data to save for chunk_002	[pipeline.py: 234]
+05/11 02:22:04 INFO: [Worker 0] Worker 0 completed house 1: 12/12 successful episodes	[pipeline.py: 1323]
+05/11 02:22:04 INFO: [Worker 0] [PROFILE] House 1 complete: 12/12 successful, 12 episodes, total_time=4190.30s
+  House averages:
+  episode_total: mean=128.44s, total=2312.00s, count=18, min=1850.4ms, max=201054.7ms
+  sensor_polling: mean=373.3ms, total=1596.66s, count=4277, min=287.5ms, max=731.8ms
+  save_trajectories: mean=9.56s, total=114.73s, count=12, min=8537.6ms, max=10813.5ms
+  physics_step: mean=22.0ms, total=94.15s, count=4277, min=12.2ms, max=118.3ms
+  save_batch_prep: mean=3.85s, total=46.17s, count=12, min=3315.9ms, max=4496.3ms
+  task_sampling: mean=624.6ms, total=11.24s, count=18, min=311.9ms, max=3867.8ms
+  task_specific_sample: mean=452.1ms, total=8.14s, count=18, min=307.3ms, max=833.6ms
+  scene_load: mean=3.03s, total=3.03s, count=1, min=3031.4ms, max=3031.4ms
+  scene_env_create: mean=1.93s, total=1.93s, count=1, min=1928.3ms, max=1928.3ms
+  scene_compile: mean=978.8ms, total=978.8ms, count=1, min=978.8ms, max=978.8ms
+  compile_mujoco: mean=705.7ms, total=705.7ms, count=1, min=705.7ms, max=705.7ms
+  compile_xml_load: mean=176.9ms, total=176.9ms, count=1, min=176.9ms, max=176.9ms
+  compile_aux_objects: mean=77.5ms, total=77.5ms, count=1, min=77.5ms, max=77.5ms
+  compile_aux_policy_objects: mean=77.5ms, total=77.5ms, count=1, min=77.5ms, max=77.5ms
+  scene_init: mean=77.0ms, total=77.0ms, count=1, min=77.0ms, max=77.0ms
+  scene_asset_install: mean=46.9ms, total=46.9ms, count=1, min=46.9ms, max=46.9ms
+  scene_randomize: mean=2.2ms, total=40.4ms, count=18, min=1.3ms, max=3.1ms
+  asset_install_grasps: mean=34.4ms, total=34.4ms, count=1, min=34.4ms, max=34.4ms
+  asset_install_objects: mean=10.0ms, total=10.0ms, count=1, min=10.0ms, max=10.0ms
+  mj_forward_sync: mean=499.1us, total=9.0ms, count=18, min=0.3ms, max=0.6ms
+  compile_robot_add: mean=8.6ms, total=8.6ms, count=1, min=8.6ms, max=8.6ms
+  asset_install_scene: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  policy_setup: mean=22.1us, 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]
+05/11 02:22:04 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/11 02:22:04 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 12 episodes, total_time=4190.30s
+  Worker averages:
+  episode_total: mean=128.44s, total=2312.00s, count=18, min=1850.4ms, max=201054.7ms
+  sensor_polling: mean=373.3ms, total=1596.66s, count=4277, min=287.5ms, max=731.8ms
+  save_trajectories: mean=9.56s, total=114.73s, count=12, min=8537.6ms, max=10813.5ms
+  physics_step: mean=22.0ms, total=94.15s, count=4277, min=12.2ms, max=118.3ms
+  save_batch_prep: mean=3.85s, total=46.17s, count=12, min=3315.9ms, max=4496.3ms
+  task_sampling: mean=624.6ms, total=11.24s, count=18, min=311.9ms, max=3867.8ms
+  task_specific_sample: mean=452.1ms, total=8.14s, count=18, min=307.3ms, max=833.6ms
+  scene_load: mean=3.03s, total=3.03s, count=1, min=3031.4ms, max=3031.4ms
+  scene_env_create: mean=1.93s, total=1.93s, count=1, min=1928.3ms, max=1928.3ms
+  scene_compile: mean=978.8ms, total=978.8ms, count=1, min=978.8ms, max=978.8ms
+  compile_mujoco: mean=705.7ms, total=705.7ms, count=1, min=705.7ms, max=705.7ms
+  compile_xml_load: mean=176.9ms, total=176.9ms, count=1, min=176.9ms, max=176.9ms
+  compile_aux_objects: mean=77.5ms, total=77.5ms, count=1, min=77.5ms, max=77.5ms
+  compile_aux_policy_objects: mean=77.5ms, total=77.5ms, count=1, min=77.5ms, max=77.5ms
+  scene_init: mean=77.0ms, total=77.0ms, count=1, min=77.0ms, max=77.0ms
+  scene_asset_install: mean=46.9ms, total=46.9ms, count=1, min=46.9ms, max=46.9ms
+  scene_randomize: mean=2.2ms, total=40.4ms, count=18, min=1.3ms, max=3.1ms
+  asset_install_grasps: mean=34.4ms, total=34.4ms, count=1, min=34.4ms, max=34.4ms
+  asset_install_objects: mean=10.0ms, total=10.0ms, count=1, min=10.0ms, max=10.0ms
+  mj_forward_sync: mean=499.1us, total=9.0ms, count=18, min=0.3ms, max=0.6ms
+  compile_robot_add: mean=8.6ms, total=8.6ms, count=1, min=8.6ms, max=8.6ms
+  asset_install_scene: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  policy_setup: mean=22.1us, 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]
+05/11 02:22:06 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_m/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 02:22:06 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/11 02:22:06 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 02:22:06 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/11 02:22:06 INFO: Success count: 10, Total count: 12	[pipeline.py: 1491]
+05/11 02:22:06 INFO: Success rate: 83.33%	[pipeline.py: 1492]
+05/11 02:22:06 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/11 02:22:06 INFO: Success count: 12, Total count: 12	[pipeline.py: 1491]
+05/11 02:22:06 INFO: Success rate: 100.00%	[pipeline.py: 1492]
+05/11 02:22:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 02:22:19 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 02:22:19 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 12.83s (batch: 4.50s, save: 8.33s)	[pipeline.py: 300]
+05/11 02:22:20 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.49s:
+  episode_total: mean=159.66s, total=159.66s, count=1, min=159664.7ms, max=159664.7ms
+  sensor_polling: mean=370.3ms, total=111.10s, count=300, min=302.2ms, max=740.6ms
+  save_trajectories: mean=8.33s, total=8.33s, count=1, min=8330.9ms, max=8330.9ms
+  physics_step: mean=20.1ms, total=6.04s, count=300, min=14.8ms, max=26.2ms
+  save_batch_prep: mean=4.50s, total=4.50s, count=1, min=4498.4ms, max=4498.4ms
+  task_sampling: mean=486.9ms, total=486.9ms, count=1, min=486.9ms, max=486.9ms
+  task_specific_sample: mean=476.8ms, total=476.8ms, count=1, min=476.8ms, max=476.8ms
+  scene_randomize: mean=8.3ms, total=8.3ms, count=1, min=8.3ms, max=8.3ms
+  mj_forward_sync: mean=400.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=27.3us, 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]
+05/11 02:22:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 02:22:21 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 02:22:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 02:22:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 02:22:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 02:22:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 02:22:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 02:22:21 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 02:22:21 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]
+05/11 02:22:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 02:22:21 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]
+05/11 02:22:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 02:22:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 02:22:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.030527m	[env.py: 870]
+05/11 02:22:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 02:22:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 02:22:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 02:22:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 87.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 02:22:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.77461179  0.44548746  0.03052714] yaw=169.0deg	[env.py: 1019]
+05/11 02:22:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 02:22:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 69.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 02:22:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -65.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 02:22:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.94448364  0.18399252  0.03052714] yaw=161.2deg	[env.py: 1019]
+05/11 02:22:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 02:22:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 02:22:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=236.1ms, total=236.2ms	[env.py: 1075]
+05/11 02:22:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.775, 0.445, 0.031)	[env.py: 1079]
+05/11 02:22:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 169.0 deg	[env.py: 1082]
+05/11 02:22:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.928m	[env.py: 1086]
+05/11 02:22:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 02:22:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 02:22:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 02:22:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 02:22:22 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 02:22:22 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/11 02:22:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.120s	[base_object_manipulation_planner_policy.py: 377]
+05/11 02:22:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 02:22:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 02:22:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 02:22:23 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.723s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 02:22:23 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.457[m] 83.302[deg]	[grasp_sample.py: 539]
+05/11 02:22:23 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 02:22:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 02:22:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:22:23 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 02:22:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:22:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:22:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:22:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:22:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:22:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:22:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:22:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:22:43 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 02:22:43 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 02:22:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 02:22:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 02:22:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/11 02:22:45 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.046s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 02:22:45 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.332[deg]	[grasp_sample.py: 539]
+05/11 02:22:46 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 02:22:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 02:22:47 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 02:22:47 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 02:22:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 02:22:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 02:22:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 02:22:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 02:22:48 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 02:22:48 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]
+05/11 02:22:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 02:22:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.084m, effective arm-mount z=0.944m (base_body_z=0.084m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 02:22:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 02:22:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 02:22:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.083515m	[env.py: 870]
+05/11 02:22:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 02:22:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 02:22:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 02:22:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.80198061  0.45428463  0.0835146 ] yaw=184.7deg	[env.py: 1019]
+05/11 02:22:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 02:22:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.67584086  0.51385204  0.0835146 ] yaw=-187.1deg	[env.py: 1019]
+05/11 02:22:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 02:22:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.96142222  0.60698613  0.0835146 ] yaw=-169.7deg	[env.py: 1019]
+05/11 02:22:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 02:22:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 02:22:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=71.2ms, total=71.2ms	[env.py: 1075]
+05/11 02:22:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.802, 0.454, 0.084)	[env.py: 1079]
+05/11 02:22:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 184.7 deg	[env.py: 1082]
+05/11 02:22:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.901m	[env.py: 1086]
+05/11 02:22:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 02:22:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 02:22:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 02:22:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 02:22:48 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 02:22:48 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/11 02:22:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s	[base_object_manipulation_planner_policy.py: 377]
+05/11 02:22:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 02:22:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 02:22:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 02:22:49 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.815s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 02:22:49 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.476[m] 91.495[deg]	[grasp_sample.py: 539]
+05/11 02:22:49 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 02:22:49 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 02:22:49 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:22:49 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 02:22:56 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:23:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 02:23:07 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:23:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:23:29 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 02:23:32 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:23:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:23:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:23:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:24:18 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 02:24:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:24:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:24:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:24:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:24:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:24:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:24:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:24:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 02:24:33 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 02:24:33 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 02:24:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 02:24:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 02:24:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/11 02:24:33 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.514s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 02:24:33 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.486[deg]	[grasp_sample.py: 539]
+05/11 02:24:34 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 02:24:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 02:24:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:24:38 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_m/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 02:24:38 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/11 02:24:38 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 02:24:43 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 02:24:46 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 02:24:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 02:24:52 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 02:24:52 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 13.61s (batch: 4.07s, save: 9.54s)	[pipeline.py: 300]
+05/11 02:24:53 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.51s:
+  episode_total: mean=151.29s, total=151.29s, count=1, min=151288.0ms, max=151288.0ms
+  sensor_polling: mean=338.5ms, total=101.56s, count=300, min=298.8ms, max=754.7ms
+  save_trajectories: mean=9.54s, total=9.54s, count=1, min=9541.8ms, max=9541.8ms
+  physics_step: mean=20.4ms, total=6.11s, count=300, min=13.3ms, max=28.4ms
+  save_batch_prep: mean=4.07s, total=4.07s, count=1, min=4069.2ms, max=4069.2ms
+  task_sampling: mean=506.1ms, total=506.1ms, count=1, min=506.1ms, max=506.1ms
+  task_specific_sample: mean=501.0ms, total=501.0ms, count=1, min=501.0ms, max=501.0ms
+  scene_randomize: mean=3.7ms, total=3.7ms, count=1, min=3.7ms, max=3.7ms
+  mj_forward_sync: mean=396.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=14.6us, 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]
+05/11 02:24:54 WARNING: [Worker 0] No trajectory data to save for chunk_002	[pipeline.py: 234]
+05/11 02:24:54 WARNING: [Worker 0] No trajectory data to save for chunk_002	[pipeline.py: 234]
+05/11 02:24:54 INFO: [Worker 0] Worker 0 completed house 1: 13/13 successful episodes	[pipeline.py: 1323]
+05/11 02:24:54 INFO: [Worker 0] [PROFILE] House 1 complete: 13/13 successful, 13 episodes, total_time=4507.02s
+  House averages:
+  episode_total: mean=137.60s, total=2476.78s, count=18, min=3888.3ms, max=185008.6ms
+  sensor_polling: mean=376.8ms, total=1728.93s, count=4588, min=289.3ms, max=831.4ms
+  save_trajectories: mean=9.22s, total=119.80s, count=13, min=8330.9ms, max=10601.1ms
+  physics_step: mean=21.5ms, total=98.80s, count=4588, min=13.2ms, max=87.6ms
+  save_batch_prep: mean=4.30s, total=55.89s, count=13, min=3305.1ms, max=6552.8ms
+  task_sampling: mean=639.3ms, total=11.51s, count=18, min=350.4ms, max=3307.8ms
+  task_specific_sample: mean=483.2ms, total=8.70s, count=18, min=346.1ms, max=671.0ms
+  scene_load: mean=2.71s, total=2.71s, count=1, min=2710.5ms, max=2710.5ms
+  scene_env_create: mean=1.55s, total=1.55s, count=1, min=1545.5ms, max=1545.5ms
+  scene_compile: mean=1.05s, total=1.05s, count=1, min=1048.1ms, max=1048.1ms
+  compile_mujoco: mean=655.6ms, total=655.6ms, count=1, min=655.6ms, max=655.6ms
+  compile_xml_load: mean=326.0ms, total=326.0ms, count=1, min=326.0ms, max=326.0ms
+  scene_init: mean=80.0ms, total=80.0ms, count=1, min=80.0ms, max=80.0ms
+  scene_randomize: mean=3.1ms, total=55.9ms, count=18, min=1.4ms, max=8.3ms
+  compile_aux_objects: mean=41.0ms, total=41.0ms, count=1, min=41.0ms, max=41.0ms
+  compile_aux_policy_objects: mean=41.0ms, total=41.0ms, count=1, min=41.0ms, max=41.0ms
+  scene_asset_install: mean=36.7ms, total=36.7ms, count=1, min=36.7ms, max=36.7ms
+  asset_install_grasps: mean=26.4ms, total=26.4ms, count=1, min=26.4ms, max=26.4ms
+  compile_robot_add: mean=15.6ms, total=15.6ms, count=1, min=15.6ms, max=15.6ms
+  mj_forward_sync: mean=466.9us, total=8.4ms, count=18, min=0.3ms, max=0.6ms
+  asset_install_objects: mean=7.7ms, total=7.7ms, count=1, min=7.7ms, max=7.7ms
+  asset_install_scene: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  policy_setup: mean=21.4us, 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]
+05/11 02:24:54 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/11 02:24:54 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 13 episodes, total_time=4507.02s
+  Worker averages:
+  episode_total: mean=137.60s, total=2476.78s, count=18, min=3888.3ms, max=185008.6ms
+  sensor_polling: mean=376.8ms, total=1728.93s, count=4588, min=289.3ms, max=831.4ms
+  save_trajectories: mean=9.22s, total=119.80s, count=13, min=8330.9ms, max=10601.1ms
+  physics_step: mean=21.5ms, total=98.80s, count=4588, min=13.2ms, max=87.6ms
+  save_batch_prep: mean=4.30s, total=55.89s, count=13, min=3305.1ms, max=6552.8ms
+  task_sampling: mean=639.3ms, total=11.51s, count=18, min=350.4ms, max=3307.8ms
+  task_specific_sample: mean=483.2ms, total=8.70s, count=18, min=346.1ms, max=671.0ms
+  scene_load: mean=2.71s, total=2.71s, count=1, min=2710.5ms, max=2710.5ms
+  scene_env_create: mean=1.55s, total=1.55s, count=1, min=1545.5ms, max=1545.5ms
+  scene_compile: mean=1.05s, total=1.05s, count=1, min=1048.1ms, max=1048.1ms
+  compile_mujoco: mean=655.6ms, total=655.6ms, count=1, min=655.6ms, max=655.6ms
+  compile_xml_load: mean=326.0ms, total=326.0ms, count=1, min=326.0ms, max=326.0ms
+  scene_init: mean=80.0ms, total=80.0ms, count=1, min=80.0ms, max=80.0ms
+  scene_randomize: mean=3.1ms, total=55.9ms, count=18, min=1.4ms, max=8.3ms
+  compile_aux_objects: mean=41.0ms, total=41.0ms, count=1, min=41.0ms, max=41.0ms
+  compile_aux_policy_objects: mean=41.0ms, total=41.0ms, count=1, min=41.0ms, max=41.0ms
+  scene_asset_install: mean=36.7ms, total=36.7ms, count=1, min=36.7ms, max=36.7ms
+  asset_install_grasps: mean=26.4ms, total=26.4ms, count=1, min=26.4ms, max=26.4ms
+  compile_robot_add: mean=15.6ms, total=15.6ms, count=1, min=15.6ms, max=15.6ms
+  mj_forward_sync: mean=466.9us, total=8.4ms, count=18, min=0.3ms, max=0.6ms
+  asset_install_objects: mean=7.7ms, total=7.7ms, count=1, min=7.7ms, max=7.7ms
+  asset_install_scene: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  policy_setup: mean=21.4us, 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]
+05/11 02:24:57 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/11 02:24:57 INFO: Success count: 13, Total count: 13	[pipeline.py: 1491]
+05/11 02:24:57 INFO: Success rate: 100.00%	[pipeline.py: 1492]
+05/11 02:25:06 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 02:25:06 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/11 02:25:06 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 02:25:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 02:25:17 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 02:25:17 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 11.69s (batch: 3.34s, save: 8.34s)	[pipeline.py: 300]
+05/11 02:25:18 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.84s:
+  episode_total: mean=132.89s, total=265.78s, count=2, min=115636.1ms, max=150148.7ms
+  sensor_polling: mean=359.0ms, total=197.80s, count=551, min=288.9ms, max=785.8ms
+  physics_step: mean=19.6ms, total=10.81s, count=551, min=13.1ms, max=26.9ms
+  save_trajectories: mean=8.34s, total=8.34s, count=1, min=8344.5ms, max=8344.5ms
+  save_batch_prep: mean=3.34s, total=3.34s, count=1, min=3340.9ms, max=3340.9ms
+  task_sampling: mean=419.4ms, total=838.9ms, count=2, min=269.8ms, max=569.1ms
+  task_specific_sample: mean=415.8ms, total=831.6ms, count=2, min=265.8ms, max=565.8ms
+  scene_randomize: mean=1.8ms, total=3.6ms, count=2, min=1.5ms, max=2.1ms
+  mj_forward_sync: mean=395.4us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=15.1us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 02:25:19 WARNING: [Worker 0] No trajectory data to save for chunk_002	[pipeline.py: 234]
+05/11 02:25:19 WARNING: [Worker 0] No trajectory data to save for chunk_002	[pipeline.py: 234]
+05/11 02:25:19 INFO: [Worker 0] Worker 0 completed house 1: 9/11 successful episodes	[pipeline.py: 1323]
+05/11 02:25:19 INFO: [Worker 0] [PROFILE] House 1 complete: 9/11 successful, 11 episodes, total_time=4569.36s
+  House averages:
+  episode_total: mean=139.29s, total=2507.20s, count=18, min=3015.0ms, max=181690.1ms
+  sensor_polling: mean=404.0ms, total=1821.60s, count=4509, min=275.0ms, max=874.9ms
+  physics_step: mean=22.1ms, total=99.59s, count=4509, min=11.7ms, max=100.1ms
+  save_trajectories: mean=9.18s, total=82.61s, count=9, min=8344.5ms, max=10525.3ms
+  save_batch_prep: mean=3.65s, total=32.86s, count=9, min=2993.5ms, max=4189.3ms
+  task_sampling: mean=599.6ms, total=10.79s, count=18, min=269.8ms, max=3742.9ms
+  task_specific_sample: mean=433.7ms, total=7.81s, count=18, min=265.8ms, max=817.0ms
+  scene_load: mean=2.92s, total=2.92s, count=1, min=2923.7ms, max=2923.7ms
+  scene_env_create: mean=1.89s, total=1.89s, count=1, min=1885.3ms, max=1885.3ms
+  scene_compile: mean=921.4ms, total=921.4ms, count=1, min=921.4ms, max=921.4ms
+  compile_mujoco: mean=700.1ms, total=700.1ms, count=1, min=700.1ms, max=700.1ms
+  compile_xml_load: mean=140.1ms, total=140.1ms, count=1, min=140.1ms, max=140.1ms
+  scene_init: mean=78.9ms, total=78.9ms, count=1, min=78.9ms, max=78.9ms
+  compile_aux_objects: mean=56.5ms, total=56.5ms, count=1, min=56.5ms, max=56.5ms
+  compile_aux_policy_objects: mean=56.5ms, total=56.5ms, count=1, min=56.5ms, max=56.5ms
+  scene_asset_install: mean=38.0ms, total=38.0ms, count=1, min=38.0ms, max=38.0ms
+  scene_randomize: mean=1.7ms, total=31.4ms, count=18, min=0.9ms, max=2.6ms
+  asset_install_grasps: mean=27.4ms, total=27.4ms, count=1, min=27.4ms, max=27.4ms
+  compile_robot_add: mean=14.7ms, total=14.7ms, count=1, min=14.7ms, max=14.7ms
+  asset_install_objects: mean=8.2ms, total=8.2ms, count=1, min=8.2ms, max=8.2ms
+  mj_forward_sync: mean=448.2us, total=8.1ms, count=18, min=0.3ms, max=0.6ms
+  asset_install_scene: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  policy_setup: mean=16.5us, 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]
+05/11 02:25:19 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/11 02:25:19 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 11 episodes, total_time=4569.36s
+  Worker averages:
+  episode_total: mean=139.29s, total=2507.20s, count=18, min=3015.0ms, max=181690.1ms
+  sensor_polling: mean=404.0ms, total=1821.60s, count=4509, min=275.0ms, max=874.9ms
+  physics_step: mean=22.1ms, total=99.59s, count=4509, min=11.7ms, max=100.1ms
+  save_trajectories: mean=9.18s, total=82.61s, count=9, min=8344.5ms, max=10525.3ms
+  save_batch_prep: mean=3.65s, total=32.86s, count=9, min=2993.5ms, max=4189.3ms
+  task_sampling: mean=599.6ms, total=10.79s, count=18, min=269.8ms, max=3742.9ms
+  task_specific_sample: mean=433.7ms, total=7.81s, count=18, min=265.8ms, max=817.0ms
+  scene_load: mean=2.92s, total=2.92s, count=1, min=2923.7ms, max=2923.7ms
+  scene_env_create: mean=1.89s, total=1.89s, count=1, min=1885.3ms, max=1885.3ms
+  scene_compile: mean=921.4ms, total=921.4ms, count=1, min=921.4ms, max=921.4ms
+  compile_mujoco: mean=700.1ms, total=700.1ms, count=1, min=700.1ms, max=700.1ms
+  compile_xml_load: mean=140.1ms, total=140.1ms, count=1, min=140.1ms, max=140.1ms
+  scene_init: mean=78.9ms, total=78.9ms, count=1, min=78.9ms, max=78.9ms
+  compile_aux_objects: mean=56.5ms, total=56.5ms, count=1, min=56.5ms, max=56.5ms
+  compile_aux_policy_objects: mean=56.5ms, total=56.5ms, count=1, min=56.5ms, max=56.5ms
+  scene_asset_install: mean=38.0ms, total=38.0ms, count=1, min=38.0ms, max=38.0ms
+  scene_randomize: mean=1.7ms, total=31.4ms, count=18, min=0.9ms, max=2.6ms
+  asset_install_grasps: mean=27.4ms, total=27.4ms, count=1, min=27.4ms, max=27.4ms
+  compile_robot_add: mean=14.7ms, total=14.7ms, count=1, min=14.7ms, max=14.7ms
+  asset_install_objects: mean=8.2ms, total=8.2ms, count=1, min=8.2ms, max=8.2ms
+  mj_forward_sync: mean=448.2us, total=8.1ms, count=18, min=0.3ms, max=0.6ms
+  asset_install_scene: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  policy_setup: mean=16.5us, 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]
+05/11 02:25:21 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/11 02:25:21 INFO: Success count: 9, Total count: 11	[pipeline.py: 1491]
+05/11 02:25:21 INFO: Success rate: 81.82%	[pipeline.py: 1492]
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+05/11 04:21:23 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/11 04:21:23 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/11 04:21:23 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/11 04:21:23 INFO: {'batch_num': 3,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_m/sim_chunks/chunk_003'),
+ '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 0x7f9eb5cc94d0>,
+ '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_m',
+ 'seed': 30303,
+ '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]
+05/11 04:21:23 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]
+05/11 04:21:23 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/11 04:21:23 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/11 04:21:24 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/11 04:21:24 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/11 04:21:24 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/11 04:21:24 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/11 04:21:24 INFO: {'batch_num': 1,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_m/sim_chunks/chunk_003'),
+ '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 0x70553ff20490>,
+ '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_m',
+ 'seed': 30301,
+ '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]
+05/11 04:21:24 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]
+05/11 04:21:24 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/11 04:21:24 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/11 04:21:24 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/11 04:21:24 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/11 04:21:24 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/11 04:21:24 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/11 04:21:24 INFO: {'batch_num': 2,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_m/sim_chunks/chunk_003'),
+ '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 0x70b03525d290>,
+ '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_m',
+ 'seed': 30302,
+ '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]
+05/11 04:21:25 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/11 04:21:25 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/11 04:21:25 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/11 04:21:25 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/11 04:21:26 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/11 04:21:26 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/11 04:21:26 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/11 04:21:26 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/11 04:21:26 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 04:21:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 04:21:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 04:21:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 04:21:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 04:21:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 04:21:26 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 04:21:26 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]
+05/11 04:21:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 04:21:26 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]
+05/11 04:21:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 04:21:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 04:21:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.079245m	[env.py: 870]
+05/11 04:21:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 04:21:26 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/11 04:21:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 04:21:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -39.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 04:21:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.94919105  0.89456868  0.07924531] yaw=-155.0deg	[env.py: 1019]
+05/11 04:21:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 04:21:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 98.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 04:21:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.02410668  1.30297655  0.07924531] yaw=-123.6deg	[env.py: 1019]
+05/11 04:21:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 04:21:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 73.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 04:21:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.81152565  0.83835196  0.07924531] yaw=-168.9deg	[env.py: 1019]
+05/11 04:21:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 04:21:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 04:21:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=14.9ms, retries=190.5ms, total=205.4ms	[env.py: 1075]
+05/11 04:21:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.949, 0.895, 0.079)	[env.py: 1079]
+05/11 04:21:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -155.0 deg	[env.py: 1082]
+05/11 04:21:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.859m	[env.py: 1086]
+05/11 04:21:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 04:21:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 04:21:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 04:21:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 04:21:27 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/11 04:21:27 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/11 04:21:27 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/11 04:21:27 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 04:21:27 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/11 04:21:27 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/11 04:21:27 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 04:21:27 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 04:21:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 04:21:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 04:21:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 04:21:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 04:21:27 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 04:21:27 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]
+05/11 04:21:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 04:21:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.085m, effective arm-mount z=0.945m (base_body_z=0.085m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 04:21:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 04:21:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 04:21:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.085387m	[env.py: 870]
+05/11 04:21:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 04:21:27 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/11 04:21:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 04:21:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 64.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 04:21:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -36.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 04:21:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 101.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 04:21:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -62.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 04:21:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.7874359   0.69688984  0.08538737] yaw=-167.9deg	[env.py: 1019]
+05/11 04:21:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 04:21:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.0959276   1.09369844  0.08538737] yaw=-144.1deg	[env.py: 1019]
+05/11 04:21:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 04:21:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.94097137  0.40031898  0.08538737] yaw=182.8deg	[env.py: 1019]
+05/11 04:21:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 04:21:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 04:21:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=15.7ms, retries=233.2ms, total=249.0ms	[env.py: 1075]
+05/11 04:21:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.787, 0.697, 0.085)	[env.py: 1079]
+05/11 04:21:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -167.9 deg	[env.py: 1082]
+05/11 04:21:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.940m	[env.py: 1086]
+05/11 04:21:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 04:21:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 04:21:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 04:21:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 04:21:27 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 04:21:27 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/11 04:21:27 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/11 04:21:27 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/11 04:21:27 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/11 04:21:27 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/11 04:21:27 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 04:21:27 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 04:21:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 04:21:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 04:21:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 04:21:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 04:21:27 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 04:21:27 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]
+05/11 04:21:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 04:21:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.091m, effective arm-mount z=0.951m (base_body_z=0.091m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 04:21:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 04:21:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 04:21:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.091096m	[env.py: 870]
+05/11 04:21:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 04:21:27 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/11 04:21:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 04:21:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -66.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 04:21:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -33.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 04:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.00718918  1.04876028  0.09109646] yaw=-141.0deg	[env.py: 1019]
+05/11 04:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 04:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -45.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 04:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 86.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 04:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.8493282   0.58950951  0.09109646] yaw=-162.1deg	[env.py: 1019]
+05/11 04:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 04:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.70310674  0.14744846  0.09109646] yaw=158.4deg	[env.py: 1019]
+05/11 04:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 04:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 04:21:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=14.9ms, retries=327.0ms, total=341.9ms	[env.py: 1075]
+05/11 04:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.007, 1.049, 0.091)	[env.py: 1079]
+05/11 04:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -141.0 deg	[env.py: 1082]
+05/11 04:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.897m	[env.py: 1086]
+05/11 04:21:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 04:21:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 04:21:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 04:21:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 04:21:28 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 04:21:28 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/11 04:21:28 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/11 04:21:28 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/11 04:21:28 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/11 04:21:28 INFO: {'batch_num': 4,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_m/sim_chunks/chunk_003'),
+ '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 0x707eed5c6f90>,
+ '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_m',
+ 'seed': 30304,
+ '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]
+05/11 04:21:28 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]
+05/11 04:21:28 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/11 04:21:28 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/11 04:21:28 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/11 04:21:30 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/11 04:21:30 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/11 04:21:30 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/11 04:21:30 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/11 04:21:30 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 04:21:30 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 04:21:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 04:21:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 04:21:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 04:21:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 04:21:30 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 04:21:30 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 04:21:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 04:21:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.002m, effective arm-mount z=0.862m (base_body_z=0.002m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 04:21:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 04:21:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 04:21:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.002012m	[env.py: 870]
+05/11 04:21:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 04:21:30 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/11 04:21:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 04:21:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 66.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 04:21:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.87386542  0.5000175   0.00201179] yaw=-186.5deg	[env.py: 1019]
+05/11 04:21:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 04:21:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -74.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 04:21:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -38.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 04:21:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.73891982  0.2147645   0.00201179] yaw=160.2deg	[env.py: 1019]
+05/11 04:21:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 04:21:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.91041593  0.86721195  0.00201179] yaw=-151.8deg	[env.py: 1019]
+05/11 04:21:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 04:21:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 04:21:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=15.0ms, retries=135.7ms, total=150.7ms	[env.py: 1075]
+05/11 04:21:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.874, 0.500, 0.002)	[env.py: 1079]
+05/11 04:21:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -186.5 deg	[env.py: 1082]
+05/11 04:21:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.829m	[env.py: 1086]
+05/11 04:21:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 04:21:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 04:21:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 04:21:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 04:21:31 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 04:21:31 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/11 04:21:55 INFO: [Worker 0] Warmed up parallel IK solver in 28.681s	[base_object_manipulation_planner_policy.py: 377]
+05/11 04:21:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 04:21:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 04:21:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 04:21:56 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.631s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 04:21:56 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.446[m] 88.414[deg]	[grasp_sample.py: 539]
+05/11 04:21:56 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 04:21:56 INFO: [Worker 0] Warmed up parallel IK solver in 29.028s	[base_object_manipulation_planner_policy.py: 377]
+05/11 04:21:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 04:21:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 04:21:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 04:21:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 04:21:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 04:21:57 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 04:21:57 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.788s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 04:21:57 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.496[m] 86.477[deg]	[grasp_sample.py: 539]
+05/11 04:21:57 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 04:21:58 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 04:21:58 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 04:21:58 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 04:21:59 INFO: [Worker 0] Warmed up parallel IK solver in 27.922s	[base_object_manipulation_planner_policy.py: 377]
+05/11 04:21:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 04:21:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 04:21:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.087s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 04:21:59 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.488s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 04:21:59 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.398[m] 87.673[deg]	[grasp_sample.py: 539]
+05/11 04:21:59 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 04:22:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 04:22:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 04:22:00 INFO: [Worker 0] Warmed up parallel IK solver in 31.859s	[base_object_manipulation_planner_policy.py: 377]
+05/11 04:22:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 04:22:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 04:22:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 04:22:00 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 04:22:01 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.888s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 04:22:01 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.475[m] 84.216[deg]	[grasp_sample.py: 539]
+05/11 04:22:01 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 04:22:01 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 04:22:01 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 04:22:02 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 04:22:31 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 04:22:33 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 04:22:39 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 04:22:39 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 04:22:42 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 04:22:42 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 04:22:43 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 04:22:46 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 04:22:48 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 04:22:51 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 04:22:52 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 04:22:55 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 04:24:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 04:24:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 04:24:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 04:24:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 04:24:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 04:24:11 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 04:24:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 04:24:14 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 04:24:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 04:24:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 04:24:16 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 04:24:16 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 04:24:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 04:24:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 04:24:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/11 04:24:17 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 04:24:18 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.956s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 04:24:18 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.280[deg]	[grasp_sample.py: 539]
+05/11 04:24:19 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 04:24:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 04:24:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 04:24:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 04:24:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 04:24:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 04:24:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 04:24:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 04:24:20 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 04:24:20 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]
+05/11 04:24:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 04:24:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.099m, effective arm-mount z=0.959m (base_body_z=0.099m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 04:24:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 04:24:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 04:24:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.099211m	[env.py: 870]
+05/11 04:24:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 04:24:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 04:24:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 04:24:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 102.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 04:24:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.67905915  0.40488817  0.09921146] yaw=184.1deg	[env.py: 1019]
+05/11 04:24:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 04:24:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.67977948  0.12356328  0.09921146] yaw=156.4deg	[env.py: 1019]
+05/11 04:24:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 04:24:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.6765003   0.60569266  0.09921146] yaw=-171.8deg	[env.py: 1019]
+05/11 04:24:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 04:24:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 04:24:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=189.1ms, total=189.2ms	[env.py: 1075]
+05/11 04:24:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.679, 0.405, 0.099)	[env.py: 1079]
+05/11 04:24:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 184.1 deg	[env.py: 1082]
+05/11 04:24:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.026m	[env.py: 1086]
+05/11 04:24:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 04:24:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 04:24:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 04:24:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 04:24:21 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 04:24:21 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/11 04:24:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s	[base_object_manipulation_planner_policy.py: 377]
+05/11 04:24:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 04:24:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 04:24:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 04:24:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.783s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 04:24:22 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.625[m] 90.600[deg]	[grasp_sample.py: 539]
+05/11 04:24:22 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 04:24:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 04:24:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 04:24:22 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 04:24:32 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m/sim_chunks/chunk_003	[pipeline.py: 1174]
+05/11 04:24:32 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/11 04:24:32 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 04:24:35 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m/sim_chunks/chunk_003	[pipeline.py: 1174]
+05/11 04:24:35 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/11 04:24:35 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 04:24:38 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m/sim_chunks/chunk_003	[pipeline.py: 1174]
+05/11 04:24:38 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/11 04:24:38 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 04:24:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 04:24:45 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_003	[save_utils.py: 785]
+05/11 04:24:45 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 13.49s (batch: 4.24s, save: 9.25s)	[pipeline.py: 300]
+05/11 04:24:46 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=2.54s:
+  episode_total: mean=198.02s, total=198.02s, count=1, min=198021.7ms, max=198021.7ms
+  sensor_polling: mean=394.1ms, total=118.24s, count=300, min=308.0ms, max=608.9ms
+  save_trajectories: mean=9.25s, total=9.25s, count=1, min=9248.6ms, max=9248.6ms
+  physics_step: mean=25.3ms, total=7.58s, count=300, min=17.4ms, max=30.4ms
+  save_batch_prep: mean=4.24s, total=4.24s, count=1, min=4238.5ms, max=4238.5ms
+  task_sampling: mean=2.54s, total=2.54s, count=1, min=2536.1ms, max=2536.1ms
+  scene_load: mean=2.13s, total=2.13s, count=1, min=2132.9ms, max=2132.9ms
+  scene_env_create: mean=1.30s, total=1.30s, count=1, min=1303.1ms, max=1303.1ms
+  scene_compile: mean=696.7ms, total=696.7ms, count=1, min=696.7ms, max=696.7ms
+  compile_mujoco: mean=500.6ms, total=500.6ms, count=1, min=500.6ms, max=500.6ms
+  task_specific_sample: mean=401.0ms, total=401.0ms, count=1, min=401.0ms, max=401.0ms
+  compile_xml_load: mean=138.4ms, total=138.4ms, count=1, min=138.4ms, max=138.4ms
+  scene_init: mean=76.1ms, total=76.1ms, count=1, min=76.1ms, max=76.1ms
+  scene_asset_install: mean=56.7ms, total=56.7ms, count=1, min=56.7ms, max=56.7ms
+  compile_aux_objects: mean=42.2ms, total=42.2ms, count=1, min=42.2ms, max=42.2ms
+  compile_aux_policy_objects: mean=42.2ms, total=42.2ms, count=1, min=42.2ms, max=42.2ms
+  asset_install_grasps: mean=41.5ms, total=41.5ms, count=1, min=41.5ms, max=41.5ms
+  asset_install_objects: mean=12.4ms, total=12.4ms, count=1, min=12.4ms, max=12.4ms
+  compile_robot_add: mean=6.0ms, total=6.0ms, count=1, min=6.0ms, max=6.0ms
+  asset_install_scene: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  scene_randomize: mean=883.1us, total=0.9ms, count=1, min=0.9ms, max=0.9ms
+  mj_forward_sync: mean=337.0us, total=0.3ms, count=1, min=0.3ms, max=0.3ms
+  policy_setup: mean=26.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 04:24:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 04:24:47 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 04:24:47 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 04:24:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 04:24:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 04:24:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 04:24:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 04:24:47 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 04:24:47 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 04:24:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 04:24:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.032m, effective arm-mount z=0.892m (base_body_z=0.032m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 04:24:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 04:24:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 04:24:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.032334m	[env.py: 870]
+05/11 04:24:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 04:24:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 04:24:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 04:24:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -49.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 04:24:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 92.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 04:24:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 122.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 04:24:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.89553503  0.66374628  0.03233432] yaw=-173.5deg	[env.py: 1019]
+05/11 04:24:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 04:24:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.93699724  0.31924027  0.03233432] yaw=164.2deg	[env.py: 1019]
+05/11 04:24:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 04:24:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.62367328  0.68682653  0.03233432] yaw=-158.7deg	[env.py: 1019]
+05/11 04:24:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 04:24:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 04:24:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=172.7ms, total=172.8ms	[env.py: 1075]
+05/11 04:24:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.896, 0.664, 0.032)	[env.py: 1079]
+05/11 04:24:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -173.5 deg	[env.py: 1082]
+05/11 04:24:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.827m	[env.py: 1086]
+05/11 04:24:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 04:24:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 04:24:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 04:24:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 04:24:48 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 04:24:48 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/11 04:24:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.108s	[base_object_manipulation_planner_policy.py: 377]
+05/11 04:24:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 04:24:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 04:24:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 04:24:48 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 04:24:48 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_003	[save_utils.py: 785]
+05/11 04:24:48 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 13.22s (batch: 3.81s, save: 9.41s)	[pipeline.py: 300]
+05/11 04:24:49 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.629s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 04:24:49 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.429[m] 99.081[deg]	[grasp_sample.py: 539]
+05/11 04:24:49 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 04:24:49 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 04:24:49 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 04:24:49 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=3.30s:
+  episode_total: mean=205.58s, total=205.58s, count=1, min=205581.3ms, max=205581.3ms
+  sensor_polling: mean=429.4ms, total=128.83s, count=300, min=319.4ms, max=598.0ms
+  save_trajectories: mean=9.41s, total=9.41s, count=1, min=9406.5ms, max=9406.5ms
+  physics_step: mean=22.4ms, total=6.73s, count=300, min=15.9ms, max=37.2ms
+  save_batch_prep: mean=3.81s, total=3.81s, count=1, min=3808.7ms, max=3808.7ms
+  task_sampling: mean=3.30s, total=3.30s, count=1, min=3296.6ms, max=3296.6ms
+  scene_load: mean=2.84s, total=2.84s, count=1, min=2842.1ms, max=2842.1ms
+  scene_env_create: mean=1.75s, total=1.75s, count=1, min=1747.5ms, max=1747.5ms
+  scene_compile: mean=961.3ms, total=961.3ms, count=1, min=961.3ms, max=961.3ms
+  compile_mujoco: mean=514.1ms, total=514.1ms, count=1, min=514.1ms, max=514.1ms
+  task_specific_sample: mean=451.5ms, total=451.5ms, count=1, min=451.5ms, max=451.5ms
+  compile_xml_load: mean=374.3ms, total=374.3ms, count=1, min=374.3ms, max=374.3ms
+  scene_init: mean=78.0ms, total=78.0ms, count=1, min=78.0ms, max=78.0ms
+  scene_asset_install: mean=54.9ms, total=54.9ms, count=1, min=54.9ms, max=54.9ms
+  compile_aux_objects: mean=43.9ms, total=43.9ms, count=1, min=43.9ms, max=43.9ms
+  compile_aux_policy_objects: mean=43.9ms, total=43.9ms, count=1, min=43.9ms, max=43.9ms
+  asset_install_grasps: mean=39.6ms, total=39.6ms, count=1, min=39.6ms, max=39.6ms
+  compile_robot_add: mean=15.1ms, total=15.1ms, count=1, min=15.1ms, max=15.1ms
+  asset_install_objects: mean=12.0ms, total=12.0ms, count=1, min=12.0ms, max=12.0ms
+  asset_install_scene: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms
+  scene_randomize: mean=1.4ms, total=1.4ms, count=1, min=1.4ms, max=1.4ms
+  mj_forward_sync: mean=336.3us, total=0.3ms, count=1, min=0.3ms, max=0.3ms
+  policy_setup: mean=34.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 04:24:49 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 04:24:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 04:24:50 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_003	[save_utils.py: 785]
+05/11 04:24:50 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 12.53s (batch: 3.57s, save: 8.96s)	[pipeline.py: 300]
+05/11 04:24:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 04:24:51 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 04:24:51 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 04:24:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 04:24:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 04:24:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 04:24:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 04:24:51 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 04:24:51 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]
+05/11 04:24:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 04:24:51 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]
+05/11 04:24:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 04:24:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 04:24:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.006840m	[env.py: 870]
+05/11 04:24:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 04:24:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 04:24:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 04:24:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.92919604  0.36087716  0.00684001] yaw=171.9deg	[env.py: 1019]
+05/11 04:24:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 04:24:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.98106121  0.82089153  0.00684001] yaw=-145.7deg	[env.py: 1019]
+05/11 04:24:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 04:24:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 72.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 04:24:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -48.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 04:24:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 108.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 04:24:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.75952937  0.87187986  0.00684001] yaw=-162.6deg	[env.py: 1019]
+05/11 04:24:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 04:24:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 04:24:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=140.1ms, total=140.2ms	[env.py: 1075]
+05/11 04:24:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.929, 0.361, 0.007)	[env.py: 1079]
+05/11 04:24:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 171.9 deg	[env.py: 1082]
+05/11 04:24:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.783m	[env.py: 1086]
+05/11 04:24:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 04:24:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 04:24:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 04:24:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 04:24:51 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=3.04s:
+  episode_total: mean=206.78s, total=206.78s, count=1, min=206784.7ms, max=206784.7ms
+  sensor_polling: mean=431.2ms, total=129.35s, count=300, min=315.4ms, max=626.6ms
+  save_trajectories: mean=8.96s, total=8.96s, count=1, min=8955.8ms, max=8955.8ms
+  physics_step: mean=22.9ms, total=6.86s, count=300, min=16.8ms, max=61.2ms
+  save_batch_prep: mean=3.57s, total=3.57s, count=1, min=3571.1ms, max=3571.1ms
+  task_sampling: mean=3.04s, total=3.04s, count=1, min=3043.9ms, max=3043.9ms
+  scene_load: mean=2.55s, total=2.55s, count=1, min=2552.3ms, max=2552.3ms
+  scene_env_create: mean=1.68s, total=1.68s, count=1, min=1677.8ms, max=1677.8ms
+  scene_compile: mean=752.9ms, total=752.9ms, count=1, min=752.9ms, max=752.9ms
+  compile_mujoco: mean=557.5ms, total=557.5ms, count=1, min=557.5ms, max=557.5ms
+  task_specific_sample: mean=488.5ms, total=488.5ms, count=1, min=488.5ms, max=488.5ms
+  compile_xml_load: mean=134.4ms, total=134.4ms, count=1, min=134.4ms, max=134.4ms
+  scene_init: mean=79.6ms, total=79.6ms, count=1, min=79.6ms, max=79.6ms
+  compile_aux_objects: mean=42.4ms, total=42.4ms, count=1, min=42.4ms, max=42.4ms
+  compile_aux_policy_objects: mean=42.4ms, total=42.4ms, count=1, min=42.4ms, max=42.4ms
+  scene_asset_install: mean=41.6ms, total=41.6ms, count=1, min=41.6ms, max=41.6ms
+  asset_install_grasps: mean=29.2ms, total=29.2ms, count=1, min=29.2ms, max=29.2ms
+  asset_install_objects: mean=9.0ms, total=9.0ms, count=1, min=9.0ms, max=9.0ms
+  compile_robot_add: mean=6.7ms, total=6.7ms, count=1, min=6.7ms, max=6.7ms
+  asset_install_scene: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms
+  scene_randomize: mean=1.6ms, total=1.6ms, count=1, min=1.6ms, max=1.6ms
+  mj_forward_sync: mean=340.7us, total=0.3ms, count=1, min=0.3ms, max=0.3ms
+  policy_setup: mean=60.2us, total=0.1ms, count=1, min=0.1ms, max=0.1ms	[profiler_utils.py: 380]
+05/11 04:24:51 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 04:24:51 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/11 04:24:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.105s	[base_object_manipulation_planner_policy.py: 377]
+05/11 04:24:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 04:24:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 04:24:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 04:24:52 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.645s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 04:24:52 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.334[m] 89.169[deg]	[grasp_sample.py: 539]
+05/11 04:24:52 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 04:24:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 04:24:52 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 04:24:52 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 04:24:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 04:24:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 04:24:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 04:24:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 04:24:52 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 04:24:52 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 04:24:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 04:24:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.003m, effective arm-mount z=0.863m (base_body_z=0.003m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 04:24:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 04:24:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 04:24:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.003286m	[env.py: 870]
+05/11 04:24:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 04:24:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 04:24:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 04:24:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -44.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 04:24:52 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 04:24:52 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 04:24:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 110.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 04:24:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 99.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 04:24:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 101.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 04:24:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.87135237  0.73160312  0.00328594] yaw=-161.9deg	[env.py: 1019]
+05/11 04:24:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 04:24:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.92300874  0.67877974  0.00328594] yaw=-159.6deg	[env.py: 1019]
+05/11 04:24:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 04:24:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 04:24:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=191.0ms, total=191.1ms	[env.py: 1075]
+05/11 04:24:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.871, 0.732, 0.003)	[env.py: 1079]
+05/11 04:24:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -161.9 deg	[env.py: 1082]
+05/11 04:24:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.868m	[env.py: 1086]
+05/11 04:24:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 04:24:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 04:24:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 04:24:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 04:24:53 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 04:24:53 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/11 04:24:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
+05/11 04:24:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 04:24:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 04:24:53 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 04:24:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.084s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 04:24:54 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.620s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 04:24:54 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.434[m] 89.136[deg]	[grasp_sample.py: 539]
+05/11 04:24:54 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 04:24:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 04:24:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 04:24:55 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 04:25:10 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 04:25:19 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 04:25:22 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 04:25:23 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 04:25:26 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 04:25:31 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 04:25:34 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 04:25:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 04:25:35 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 04:25:38 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 04:25:42 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 04:25:46 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 04:26:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 04:26:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 04:26:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 04:26:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 04:26:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 04:26:24 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 04:26:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 04:26:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 04:26:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 04:26:28 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 04:26:28 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 04:26:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 04:26:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 04:26:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.062s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/11 04:26:29 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.480s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 04:26:29 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.174[deg]	[grasp_sample.py: 539]
+05/11 04:26:30 ERROR: [Worker 0] Worker 0 house 1 episode 1 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 04:26:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 04:26:32 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 04:26:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 04:26:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 04:26:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 04:26:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 04:26:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 04:26:32 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 04:26:32 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]
+05/11 04:26:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 04:26:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.087m, effective arm-mount z=0.947m (base_body_z=0.087m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 04:26:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 04:26:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 04:26:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.086844m	[env.py: 870]
+05/11 04:26:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 04:26:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 04:26:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 04:26:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.66741606  0.35427271  0.08684424] yaw=173.5deg	[env.py: 1019]
+05/11 04:26:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 04:26:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.91438913  0.42200416  0.08684424] yaw=181.9deg	[env.py: 1019]
+05/11 04:26:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 04:26:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.61585198  0.37011266  0.08684424] yaw=164.7deg	[env.py: 1019]
+05/11 04:26:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 04:26:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 04:26:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=82.2ms, total=82.2ms	[env.py: 1075]
+05/11 04:26:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.667, 0.354, 0.087)	[env.py: 1079]
+05/11 04:26:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 173.5 deg	[env.py: 1082]
+05/11 04:26:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.043m	[env.py: 1086]
+05/11 04:26:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 04:26:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 04:26:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 04:26:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 04:26:32 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 04:26:32 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/11 04:26:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s	[base_object_manipulation_planner_policy.py: 377]
+05/11 04:26:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 04:26:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 04:26:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 04:26:33 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.866s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 04:26:33 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.580[m] 85.195[deg]	[grasp_sample.py: 539]
+05/11 04:26:33 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 04:26:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 04:26:33 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 04:26:34 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 04:26:49 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m/sim_chunks/chunk_003	[pipeline.py: 1174]
+05/11 04:26:49 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/11 04:26:49 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 04:26:57 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 04:27:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 04:27:03 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_003	[save_utils.py: 785]
+05/11 04:27:03 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 14.44s (batch: 4.23s, save: 10.21s)	[pipeline.py: 300]
+05/11 04:27:04 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=3.87s:
+  episode_total: mean=168.77s, total=337.54s, count=2, min=163431.0ms, max=174106.7ms
+  sensor_polling: mean=389.9ms, total=231.98s, count=595, min=296.7ms, max=697.4ms
+  physics_step: mean=21.5ms, total=12.82s, count=595, min=13.1ms, max=63.2ms
+  save_trajectories: mean=10.21s, total=10.21s, count=1, min=10211.6ms, max=10211.6ms
+  save_batch_prep: mean=4.23s, total=4.23s, count=1, min=4226.9ms, max=4226.9ms
+  task_sampling: mean=1.94s, total=3.87s, count=2, min=434.6ms, max=3440.2ms
+  scene_load: mean=2.83s, total=2.83s, count=1, min=2833.5ms, max=2833.5ms
+  scene_env_create: mean=1.93s, total=1.93s, count=1, min=1930.0ms, max=1930.0ms
+  task_specific_sample: mean=517.7ms, total=1.04s, count=2, min=431.7ms, max=603.6ms
+  scene_compile: mean=747.1ms, total=747.1ms, count=1, min=747.1ms, max=747.1ms
+  compile_mujoco: mean=544.6ms, total=544.6ms, count=1, min=544.6ms, max=544.6ms
+  compile_xml_load: mean=142.9ms, total=142.9ms, count=1, min=142.9ms, max=142.9ms
+  scene_asset_install: mean=78.3ms, total=78.3ms, count=1, min=78.3ms, max=78.3ms
+  scene_init: mean=77.3ms, total=77.3ms, count=1, min=77.3ms, max=77.3ms
+  asset_install_grasps: mean=49.2ms, total=49.2ms, count=1, min=49.2ms, max=49.2ms
+  compile_aux_objects: mean=40.9ms, total=40.9ms, count=1, min=40.9ms, max=40.9ms
+  compile_aux_policy_objects: mean=40.9ms, total=40.9ms, count=1, min=40.9ms, max=40.9ms
+  asset_install_objects: mean=14.6ms, total=14.6ms, count=1, min=14.6ms, max=14.6ms
+  asset_install_scene: mean=14.4ms, total=14.4ms, count=1, min=14.4ms, max=14.4ms
+  compile_robot_add: mean=6.2ms, total=6.2ms, count=1, min=6.2ms, max=6.2ms
+  scene_randomize: mean=1.3ms, total=2.6ms, count=2, min=1.1ms, max=1.5ms
+  mj_forward_sync: mean=355.6us, total=0.7ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=44.3us, total=0.1ms, count=2, min=0.0ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 04:27:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 04:27:05 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 04:27:05 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 04:27:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 04:27:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 04:27:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 04:27:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 04:27:05 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 04:27:05 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]
+05/11 04:27:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 04:27:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.083m, effective arm-mount z=0.943m (base_body_z=0.083m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 04:27:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 04:27:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 04:27:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.083072m	[env.py: 870]
+05/11 04:27:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 04:27:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 04:27:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 04:27:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -55.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 04:27:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -51.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 04:27:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -42.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 04:27:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.00264168  0.97007962  0.08307162] yaw=-147.2deg	[env.py: 1019]
+05/11 04:27:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 04:27:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 97.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 04:27:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 04:27:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=189.0ms, total=189.0ms	[env.py: 1075]
+05/11 04:27:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.003, 0.970, 0.083)	[env.py: 1079]
+05/11 04:27:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -147.2 deg	[env.py: 1082]
+05/11 04:27:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.853m	[env.py: 1086]
+05/11 04:27:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 04:27:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 04:27:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 04:27:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 04:27:05 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 04:27:05 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/11 04:27:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.108s	[base_object_manipulation_planner_policy.py: 377]
+05/11 04:27:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 04:27:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 04:27:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 04:27:07 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.830s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 04:27:07 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.449[m] 91.974[deg]	[grasp_sample.py: 539]
+05/11 04:27:07 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 04:27:07 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 04:27:07 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 04:27:09 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 04:27:18 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m/sim_chunks/chunk_003	[pipeline.py: 1174]
+05/11 04:27:18 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/11 04:27:18 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 04:27:25 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 04:27:30 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m/sim_chunks/chunk_003	[pipeline.py: 1174]
+05/11 04:27:30 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/11 04:27:30 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 04:27:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 04:27:31 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_003	[save_utils.py: 785]
+05/11 04:27:31 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 13.31s (batch: 3.74s, save: 9.57s)	[pipeline.py: 300]
+05/11 04:27:32 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.43s:
+  episode_total: mean=164.46s, total=164.46s, count=1, min=164455.8ms, max=164455.8ms
+  sensor_polling: mean=396.0ms, total=118.81s, count=300, min=306.8ms, max=625.6ms
+  save_trajectories: mean=9.57s, total=9.57s, count=1, min=9569.2ms, max=9569.2ms
+  physics_step: mean=21.9ms, total=6.58s, count=300, min=17.2ms, max=28.3ms
+  save_batch_prep: mean=3.74s, total=3.74s, count=1, min=3735.9ms, max=3735.9ms
+  task_sampling: mean=427.7ms, total=427.7ms, count=1, min=427.7ms, max=427.7ms
+  task_specific_sample: mean=424.2ms, total=424.2ms, count=1, min=424.2ms, max=424.2ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=392.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=23.7us, 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]
+05/11 04:27:33 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 04:27:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 04:27:33 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 04:27:33 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 04:27:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 04:27:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 04:27:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 04:27:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 04:27:33 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 04:27:33 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 04:27:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 04:27:33 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]
+05/11 04:27:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 04:27:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 04:27:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.050526m	[env.py: 870]
+05/11 04:27:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 04:27:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 04:27:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 04:27:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.98021991  0.22725414  0.05052553] yaw=153.2deg	[env.py: 1019]
+05/11 04:27:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 04:27:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 55.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 04:27:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 117.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 04:27:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 96.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 04:27:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -58.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 04:27:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.11317192  1.06681386  0.05052553] yaw=-133.7deg	[env.py: 1019]
+05/11 04:27:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 04:27:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.80982198  0.70275855  0.05052553] yaw=-169.1deg	[env.py: 1019]
+05/11 04:27:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 04:27:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 04:27:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=161.8ms, total=161.8ms	[env.py: 1075]
+05/11 04:27:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.980, 0.227, 0.051)	[env.py: 1079]
+05/11 04:27:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 153.2 deg	[env.py: 1082]
+05/11 04:27:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.766m	[env.py: 1086]
+05/11 04:27:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 04:27:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 04:27:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 04:27:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 04:27:34 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 04:27:34 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/11 04:27:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.092s	[base_object_manipulation_planner_policy.py: 377]
+05/11 04:27:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 04:27:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 04:27:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 04:27:35 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.657s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 04:27:35 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.328[m] 94.074[deg]	[grasp_sample.py: 539]
+05/11 04:27:35 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 04:27:35 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 04:27:35 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 04:27:36 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 04:27:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 04:27:42 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 04:27:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 04:27:44 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_003	[save_utils.py: 785]
+05/11 04:27:44 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 14.79s (batch: 4.31s, save: 10.49s)	[pipeline.py: 300]
+05/11 04:27:45 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.48s:
+  episode_total: mean=172.71s, total=172.71s, count=1, min=172711.8ms, max=172711.8ms
+  sensor_polling: mean=417.8ms, total=125.35s, count=300, min=310.4ms, max=664.1ms
+  save_trajectories: mean=10.49s, total=10.49s, count=1, min=10487.8ms, max=10487.8ms
+  physics_step: mean=23.8ms, total=7.14s, count=300, min=17.1ms, max=62.0ms
+  save_batch_prep: mean=4.31s, total=4.31s, count=1, min=4305.4ms, max=4305.4ms
+  task_sampling: mean=484.6ms, total=484.6ms, count=1, min=484.6ms, max=484.6ms
+  task_specific_sample: mean=480.8ms, total=480.8ms, count=1, min=480.8ms, max=480.8ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=413.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=25.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 04:27:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 04:27:46 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 04:27:46 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 04:27:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 04:27:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 04:27:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 04:27:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 04:27:46 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 04:27:46 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 04:27:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 04:27:46 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]
+05/11 04:27:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 04:27:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 04:27:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.020238m	[env.py: 870]
+05/11 04:27:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 04:27:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 04:27:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 04:27:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.80858115  0.12613631  0.02023753] yaw=152.6deg	[env.py: 1019]
+05/11 04:27:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 04:27:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 67.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 04:27:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.86820911  0.39276809  0.02023753] yaw=165.8deg	[env.py: 1019]
+05/11 04:27:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 04:27:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 104.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 04:27:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 130.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 04:27:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.19392903  1.05570615  0.02023753] yaw=-127.6deg	[env.py: 1019]
+05/11 04:27:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 04:27:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 04:27:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=213.2ms, total=213.3ms	[env.py: 1075]
+05/11 04:27:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.809, 0.126, 0.020)	[env.py: 1079]
+05/11 04:27:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 152.6 deg	[env.py: 1082]
+05/11 04:27:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.962m	[env.py: 1086]
+05/11 04:27:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 04:27:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 04:27:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 04:27:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 04:27:47 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 04:27:47 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/11 04:27:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.098s	[base_object_manipulation_planner_policy.py: 377]
+05/11 04:27:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 04:27:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 04:27:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 04:27:48 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.776s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 04:27:48 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.540[m] 94.442[deg]	[grasp_sample.py: 539]
+05/11 04:27:48 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 04:27:48 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 04:27:48 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 04:27:49 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 04:27:50 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 04:27:54 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 04:28:02 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 04:28:10 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 04:28:14 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 04:28:38 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 04:28:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 04:28:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 04:28:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 04:28:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 04:28:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 04:28:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 04:28:46 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 04:28:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 04:28:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 04:28:48 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 04:28:48 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 04:28:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 04:28:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 04:28:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/11 04:28:48 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.502s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 04:28:48 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.583[deg]	[grasp_sample.py: 539]
+05/11 04:28:49 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 04:28:50 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 04:28:50 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 04:28:50 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 04:28:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 04:28:52 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 04:28:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 04:28:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 04:28:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 04:28:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 04:29:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 04:29:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 04:29:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 04:29:03 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 04:29:03 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 04:29:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 04:29:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 04:29:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/11 04:29:03 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.569s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 04:29:03 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.582[deg]	[grasp_sample.py: 539]
+05/11 04:29:04 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 04:29:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 04:29:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 04:29:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 04:29:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 04:29:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 04:29:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 04:29:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 04:29:13 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 04:29:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 04:29:15 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m/sim_chunks/chunk_003	[pipeline.py: 1174]
+05/11 04:29:15 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/11 04:29:15 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 04:29:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 04:29:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 04:29:17 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 04:29:17 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 04:29:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 04:29:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 04:29:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.063s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/11 04:29:17 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.563s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 04:29:17 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.582[deg]	[grasp_sample.py: 539]
+05/11 04:29:19 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 04:29:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 04:29:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 04:29:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 04:29:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 04:29:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 04:29:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 04:29:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 04:29:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 04:29:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 04:29:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 04:29:29 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_003	[save_utils.py: 785]
+05/11 04:29:29 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 13.73s (batch: 3.66s, save: 10.07s)	[pipeline.py: 300]
+05/11 04:29:30 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.68s:
+  episode_total: mean=138.60s, total=277.21s, count=2, min=99366.0ms, max=177840.8ms
+  sensor_polling: mean=429.8ms, total=206.31s, count=480, min=307.2ms, max=637.7ms
+  physics_step: mean=24.0ms, total=11.50s, count=480, min=13.2ms, max=49.7ms
+  save_trajectories: mean=10.07s, total=10.07s, count=1, min=10067.2ms, max=10067.2ms
+  save_batch_prep: mean=3.66s, total=3.66s, count=1, min=3658.2ms, max=3658.2ms
+  task_sampling: mean=341.8ms, total=683.5ms, count=2, min=288.8ms, max=394.7ms
+  task_specific_sample: mean=338.0ms, total=676.1ms, count=2, min=285.0ms, max=391.1ms
+  scene_randomize: mean=2.1ms, total=4.1ms, count=2, min=1.9ms, max=2.3ms
+  mj_forward_sync: mean=380.8us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=22.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 04:29:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 04:29:30 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 04:29:30 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/11 04:29:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 04:29:31 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 04:29:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 04:29:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 04:29:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 04:29:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 04:29:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 04:29:31 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 04:29:31 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]
+05/11 04:29:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 04:29:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.008m, effective arm-mount z=0.868m (base_body_z=0.008m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 04:29:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 04:29:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 04:29:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.007859m	[env.py: 870]
+05/11 04:29:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 04:29:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 04:29:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 04:29:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 115.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 04:29:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.91978752  0.82749133  0.00785868] yaw=-165.0deg	[env.py: 1019]
+05/11 04:29:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 04:29:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 166.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 04:29:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.92571128  0.35433248  0.00785868] yaw=162.2deg	[env.py: 1019]
+05/11 04:29:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 04:29:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -69.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 04:29:31 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/11 04:29:31 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=False episode_total=0.71s:
+  episode_total: mean=117.76s, total=117.76s, count=1, min=117760.5ms, max=117760.5ms
+  sensor_polling: mean=389.9ms, total=70.96s, count=182, min=304.6ms, max=713.1ms
+  physics_step: mean=21.6ms, total=3.92s, count=182, min=11.8ms, max=52.7ms
+  task_sampling: mean=706.3ms, total=706.3ms, count=1, min=706.3ms, max=706.3ms
+  task_specific_sample: mean=703.0ms, total=703.0ms, count=1, min=703.0ms, max=703.0ms
+  scene_randomize: mean=2.0ms, total=2.0ms, count=1, min=2.0ms, max=2.0ms
+  mj_forward_sync: mean=338.2us, total=0.3ms, count=1, min=0.3ms, max=0.3ms
+  policy_setup: mean=25.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 04:29:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.71416383  0.4969887   0.00785868] yaw=-188.2deg	[env.py: 1019]
+05/11 04:29:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 04:29:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 04:29:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=143.2ms, total=143.2ms	[env.py: 1075]
+05/11 04:29:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.920, 0.827, 0.008)	[env.py: 1079]
+05/11 04:29:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -165.0 deg	[env.py: 1082]
+05/11 04:29:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.855m	[env.py: 1086]
+05/11 04:29:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 04:29:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 04:29:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 04:29:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 04:29:31 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 04:29:31 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/11 04:29:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.104s	[base_object_manipulation_planner_policy.py: 377]
+05/11 04:29:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 04:29:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 04:29:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 04:29:32 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.667s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 04:29:32 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.435[m] 87.523[deg]	[grasp_sample.py: 539]
+05/11 04:29:32 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 04:29:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 04:29:32 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 04:29:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 04:29:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 04:29:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 04:29:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 04:29:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 04:29:32 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 04:29:32 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]
+05/11 04:29:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 04:29:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.032m, effective arm-mount z=0.892m (base_body_z=0.032m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 04:29:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 04:29:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 04:29:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.032167m	[env.py: 870]
+05/11 04:29:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 04:29:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 04:29:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 04:29:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.79522615  0.18605142  0.03216748] yaw=167.8deg	[env.py: 1019]
+05/11 04:29:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 04:29:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.046153    1.20588838  0.03216748] yaw=-121.7deg	[env.py: 1019]
+05/11 04:29:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 04:29:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.92338088  0.98361508  0.03216748] yaw=-147.9deg	[env.py: 1019]
+05/11 04:29:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 04:29:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 04:29:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=80.8ms, total=80.9ms	[env.py: 1075]
+05/11 04:29:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.795, 0.186, 0.032)	[env.py: 1079]
+05/11 04:29:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 167.8 deg	[env.py: 1082]
+05/11 04:29:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.954m	[env.py: 1086]
+05/11 04:29:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 04:29:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 04:29:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 04:29:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 04:29:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 04:29:33 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 04:29:33 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 04:29:33 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/11 04:29:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.095s	[base_object_manipulation_planner_policy.py: 377]
+05/11 04:29:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 04:29:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 04:29:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 04:29:33 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 04:29:34 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.834s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 04:29:34 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.535[m] 97.093[deg]	[grasp_sample.py: 539]
+05/11 04:29:34 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 04:29:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 04:29:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 04:29:35 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 04:29:35 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m/sim_chunks/chunk_003	[pipeline.py: 1174]
+05/11 04:29:35 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/11 04:29:35 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 04:29:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 04:29:50 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_003	[save_utils.py: 785]
+05/11 04:29:50 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 14.81s (batch: 3.89s, save: 10.91s)	[pipeline.py: 300]
+05/11 04:29:50 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.42s:
+  episode_total: mean=165.06s, total=165.06s, count=1, min=165064.5ms, max=165064.5ms
+  sensor_polling: mean=392.0ms, total=117.61s, count=300, min=304.2ms, max=698.6ms
+  save_trajectories: mean=10.91s, total=10.91s, count=1, min=10913.3ms, max=10913.3ms
+  physics_step: mean=23.1ms, total=6.94s, count=300, min=13.3ms, max=61.1ms
+  save_batch_prep: mean=3.89s, total=3.89s, count=1, min=3892.8ms, max=3892.8ms
+  task_sampling: mean=423.4ms, total=423.4ms, count=1, min=423.4ms, max=423.4ms
+  task_specific_sample: mean=419.6ms, total=419.6ms, count=1, min=419.6ms, max=419.6ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=351.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=39.3us, 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]
+05/11 04:29:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 04:29:51 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 04:29:51 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 04:29:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 04:29:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 04:29:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 04:29:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 04:29:51 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 04:29:51 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]
+05/11 04:29:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 04:29:51 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]
+05/11 04:29:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 04:29:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 04:29:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.092830m	[env.py: 870]
+05/11 04:29:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 04:29:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 04:29:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 04:29:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 80.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 04:29:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -32.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 04:29:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -39.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 04:29:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 128.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 04:29:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.14633535  1.08592291  0.09282966] yaw=-128.5deg	[env.py: 1019]
+05/11 04:29:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 04:29:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.7481178   0.42493939  0.09282966] yaw=186.6deg	[env.py: 1019]
+05/11 04:29:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 04:29:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.78378637  0.4383204   0.09282966] yaw=168.3deg	[env.py: 1019]
+05/11 04:29:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 04:29:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 04:29:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=441.3ms, total=441.3ms	[env.py: 1075]
+05/11 04:29:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.146, 1.086, 0.093)	[env.py: 1079]
+05/11 04:29:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -128.5 deg	[env.py: 1082]
+05/11 04:29:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.821m	[env.py: 1086]
+05/11 04:29:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 04:29:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 04:29:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 04:29:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 04:29:52 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 04:29:52 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/11 04:29:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s	[base_object_manipulation_planner_policy.py: 377]
+05/11 04:29:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 04:29:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 04:29:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 04:29:53 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.724s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 04:29:53 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.376[m] 89.936[deg]	[grasp_sample.py: 539]
+05/11 04:29:53 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 04:29:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 04:29:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 04:30:09 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 04:30:10 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 04:30:17 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 04:30:18 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]