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+05/12 17:12:09 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/12 17:12:09 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/12 17:12:09 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/12 17:12:09 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],
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+                                                      -0.7187697968315937],
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+                                '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',
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+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_019'),
+ '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,
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+                                440.9812092338339,
+                                500.000000000004,
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+                  '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,
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+                                                    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': 51901,
+ 'shared_output_dir': True,
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+                 'enable_rendering': True,
+                 'joint_goal_position': None,
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+                 'joint_name': None,
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+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
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+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
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+                 'tracked_object_names': None,
+                 'use_sensors': True},
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+ '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,
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+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.7,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
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+                     'distance': 5.0,
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+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/12 17:12:09 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/12 17:12:09 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/12 17:12:09 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/12 17:12:09 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/12 17:12:09 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/12 17:12:09 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/12 17:12:09 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],
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+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
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+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_019'),
+ '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 0x712ab12ed690>,
+ 'robot_config': {'K_damping': [793.0831592413665,
+                                241.62769618042807,
+                                300.12442783719814,
+                                440.9812092338339,
+                                500.000000000004,
+                                311.89516163317654,
+                                500.000000000004],
+                  'K_stiffness': [5132.972657172051,
+                                  1060.4599870990814,
+                                  1814.2516466742627,
+                                  2282.7973699783515,
+                                  2963.6502662461776,
+                                  1843.22950428842,
+                                  2505.657053829795],
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_m',
+ 'seed': 51903,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.75, 1.1),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.7,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/12 17:12:09 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/12 17:12:09 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/12 17:12:09 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/12 17:12:10 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/12 17:12:10 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/12 17:12:12 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/12 17:12:12 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/12 17:12:12 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/12 17:12:12 INFO: {'batch_num': 4,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_019'),
+ '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 0x7538dd7f86d0>,
+ 'robot_config': {'K_damping': [793.0831592413665,
+                                241.62769618042807,
+                                300.12442783719814,
+                                440.9812092338339,
+                                500.000000000004,
+                                311.89516163317654,
+                                500.000000000004],
+                  'K_stiffness': [5132.972657172051,
+                                  1060.4599870990814,
+                                  1814.2516466742627,
+                                  2282.7973699783515,
+                                  2963.6502662461776,
+                                  1843.22950428842,
+                                  2505.657053829795],
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_m',
+ 'seed': 51904,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.75, 1.1),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.7,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/12 17:12:12 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/12 17:12:12 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/12 17:12:12 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/12 17:12:12 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/12 17:12:12 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/12 17:12:12 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/12 17:12:12 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/12 17:12:12 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/12 17:12:12 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/12 17:12:12 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/12 17:12:12 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 17:12:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 17:12:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:12:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:12:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:12:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:12:12 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 17:12:12 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 17:12:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 17:12:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.091m, effective arm-mount z=0.951m (base_body_z=0.091m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 17:12:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 17:12:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 17:12:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.090853m	[env.py: 870]
+05/12 17:12:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 17:12:12 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/12 17:12:12 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/12 17:12:12 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/12 17:12:12 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 17:12:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 17:12:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:12:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:12:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:12:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:12:12 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 17:12:12 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 17:12:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 17:12:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.074m, effective arm-mount z=0.934m (base_body_z=0.074m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 17:12:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 17:12:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 17:12:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.073663m	[env.py: 870]
+05/12 17:12:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 17:12:12 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/12 17:12:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 17:12:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 107.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:12:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.87917939  0.1850686   0.09085265] yaw=189.9deg	[env.py: 1019]
+05/12 17:12:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 17:12:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 17:12:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.7159845   0.72015857  0.07366335] yaw=-186.6deg	[env.py: 1019]
+05/12 17:12:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 17:12:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.9105918   0.51829279  0.07366335] yaw=-203.2deg	[env.py: 1019]
+05/12 17:12:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 66.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:12:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 17:12:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 94.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:12:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 115.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:12:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.02961125  1.14693206  0.07366335] yaw=-150.2deg	[env.py: 1019]
+05/12 17:12:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.82765804  0.81069364  0.09085265] yaw=-172.0deg	[env.py: 1019]
+05/12 17:12:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 17:12:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 17:12:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=27.1ms, retries=262.0ms, total=289.1ms	[env.py: 1075]
+05/12 17:12:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.716, 0.720, 0.074)	[env.py: 1079]
+05/12 17:12:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -186.6 deg	[env.py: 1082]
+05/12 17:12:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.015m	[env.py: 1086]
+05/12 17:12:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 17:12:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:12:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:12:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:12:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:12:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.03958894  1.08851583  0.09085265] yaw=-160.7deg	[env.py: 1019]
+05/12 17:12:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 17:12:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 17:12:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=21.3ms, retries=390.7ms, total=412.0ms	[env.py: 1075]
+05/12 17:12:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.879, 0.185, 0.091)	[env.py: 1079]
+05/12 17:12:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 189.9 deg	[env.py: 1082]
+05/12 17:12:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.875m	[env.py: 1086]
+05/12 17:12:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:12:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:12:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:12:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:12:13 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 17:12:13 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/12 17:12:13 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 17:12:13 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/12 17:12:14 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/12 17:12:14 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/12 17:12:14 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/12 17:12:14 INFO: {'batch_num': 2,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_019'),
+ '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 0x752c007c08d0>,
+ 'robot_config': {'K_damping': [793.0831592413665,
+                                241.62769618042807,
+                                300.12442783719814,
+                                440.9812092338339,
+                                500.000000000004,
+                                311.89516163317654,
+                                500.000000000004],
+                  'K_stiffness': [5132.972657172051,
+                                  1060.4599870990814,
+                                  1814.2516466742627,
+                                  2282.7973699783515,
+                                  2963.6502662461776,
+                                  1843.22950428842,
+                                  2505.657053829795],
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_m',
+ 'seed': 51902,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.75, 1.1),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.7,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/12 17:12:14 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/12 17:12:14 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/12 17:12:14 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/12 17:12:14 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/12 17:12:14 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/12 17:12:15 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/12 17:12:15 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/12 17:12:15 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 17:12:15 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 17:12:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:12:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:12:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:12:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:12:15 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 17:12:15 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 17:12:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 17:12:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.006m, effective arm-mount z=0.866m (base_body_z=0.006m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 17:12:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 17:12:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 17:12:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.005793m	[env.py: 870]
+05/12 17:12:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 17:12:15 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/12 17:12:15 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/12 17:12:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 17:12:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -59.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:12:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -167.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:12:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.07681161  0.96372041  0.00579314] yaw=-115.1deg	[env.py: 1019]
+05/12 17:12:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 17:12:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.08156507  0.91390144  0.00579314] yaw=-144.9deg	[env.py: 1019]
+05/12 17:12:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 17:12:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.99393314  0.7503217   0.00579314] yaw=-139.5deg	[env.py: 1019]
+05/12 17:12:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 17:12:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 17:12:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=20.8ms, retries=131.7ms, total=152.5ms	[env.py: 1075]
+05/12 17:12:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.077, 0.964, 0.006)	[env.py: 1079]
+05/12 17:12:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -115.1 deg	[env.py: 1082]
+05/12 17:12:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.790m	[env.py: 1086]
+05/12 17:12:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:12:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:12:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:12:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:12:15 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 17:12:15 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/12 17:12:17 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/12 17:12:17 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/12 17:12:17 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/12 17:12:17 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/12 17:12:17 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 17:12:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 17:12:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:12:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:12:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:12:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:12:17 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 17:12:17 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 17:12:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 17:12:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.005m, effective arm-mount z=0.865m (base_body_z=0.005m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 17:12:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 17:12:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 17:12:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.005356m	[env.py: 870]
+05/12 17:12:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 17:12:17 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/12 17:12:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 17:12:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.98983364  0.73285669  0.00535635] yaw=-127.1deg	[env.py: 1019]
+05/12 17:12:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 17:12:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 114.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:12:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.76641677  0.79119078  0.00535635] yaw=-161.1deg	[env.py: 1019]
+05/12 17:12:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 17:12:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.88768656  0.4990286   0.00535635] yaw=-167.1deg	[env.py: 1019]
+05/12 17:12:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 17:12:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 17:12:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=21.1ms, retries=93.5ms, total=114.6ms	[env.py: 1075]
+05/12 17:12:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.990, 0.733, 0.005)	[env.py: 1079]
+05/12 17:12:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -127.1 deg	[env.py: 1082]
+05/12 17:12:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.755m	[env.py: 1086]
+05/12 17:12:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:12:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:12:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:12:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:12:18 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 17:12:18 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/12 17:12:47 INFO: [Worker 0] Warmed up parallel IK solver in 33.758s	[base_object_manipulation_planner_policy.py: 377]
+05/12 17:12:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 17:12:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 17:12:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.081s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 17:12:47 INFO: [Worker 0] Warmed up parallel IK solver in 34.215s	[base_object_manipulation_planner_policy.py: 377]
+05/12 17:12:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 17:12:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 17:12:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.082s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 17:12:48 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.861s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 17:12:48 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.544[m] 89.561[deg]	[grasp_sample.py: 539]
+05/12 17:12:48 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 17:12:48 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 17:12:48 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:12:49 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.120s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 17:12:49 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.654[m] 95.351[deg]	[grasp_sample.py: 539]
+05/12 17:12:49 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 17:12:49 INFO: [Worker 0] Warmed up parallel IK solver in 33.657s	[base_object_manipulation_planner_policy.py: 377]
+05/12 17:12:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 17:12:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 17:12:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 17:12:49 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 17:12:49 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 17:12:49 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:12:49 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 17:12:50 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.147s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 17:12:50 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.411[m] 92.270[deg]	[grasp_sample.py: 539]
+05/12 17:12:50 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 17:12:50 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 17:12:50 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:12:51 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 17:12:52 INFO: [Worker 0] Warmed up parallel IK solver in 34.483s	[base_object_manipulation_planner_policy.py: 377]
+05/12 17:12:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 17:12:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 17:12:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.087s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 17:12:53 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.852s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 17:12:53 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.426[m] 87.920[deg]	[grasp_sample.py: 539]
+05/12 17:12:53 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 17:12:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 17:12:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:12:54 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 17:13:24 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:13:29 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:13:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 17:13:35 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:13:36 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:13:37 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 17:13:41 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:13:45 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 17:13:49 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:13:50 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:14:00 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 17:14:05 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:14:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:14:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:14:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:14:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:14:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:14:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:14:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:14:58 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 17:14:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:14:58 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 17:14:58 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 17:14:58 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]
+05/12 17:14:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 17:14:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/12 17:14:58 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.664s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 17:14:58 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.105[m] 0.354[deg]	[grasp_sample.py: 539]
+05/12 17:14:59 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 17:15:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 17:15:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:15:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:15:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:15:07 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 17:15:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:15:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:15:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:15:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:15:14 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 17:15:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:15:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:15:17 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 17:15:17 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 17:15:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 17:15:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 17:15:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.097s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/12 17:15:17 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.765s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 17:15:17 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.095[m] 0.342[deg]	[grasp_sample.py: 539]
+05/12 17:15:18 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 17:15:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 17:15:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:15:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:15:25 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_019	[pipeline.py: 1174]
+05/12 17:15:25 INFO: [Worker 0] Batching and saving trajectory data for chunk_019 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/12 17:15:25 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 17:15:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:15:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:15:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:15:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:15:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:15:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:15:34 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_019	[pipeline.py: 1174]
+05/12 17:15:34 INFO: [Worker 0] Batching and saving trajectory data for chunk_019 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/12 17:15:34 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 17:15:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:15:35 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 17:15:35 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 17:15:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 17:15:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 17:15:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/12 17:15:36 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.911s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 17:15:36 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.023[m] 0.450[deg]	[grasp_sample.py: 539]
+05/12 17:15:37 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/12 17:15:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 17:15:39 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 17:15:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 17:15:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:15:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:15:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:15:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:15:39 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 17:15:39 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]
+05/12 17:15:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 17:15:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.100m, effective arm-mount z=0.960m (base_body_z=0.100m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 17:15:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 17:15:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 17:15:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.099789m	[env.py: 870]
+05/12 17:15:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 17:15:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 17:15:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 17:15:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.78183559  0.6327505   0.09978861] yaw=-143.6deg	[env.py: 1019]
+05/12 17:15:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 17:15:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 63.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:15:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 73.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:15:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.97585174  0.75757947  0.09978861] yaw=-188.8deg	[env.py: 1019]
+05/12 17:15:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 17:15:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 84.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:15:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 17:15:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=241.6ms, total=241.6ms	[env.py: 1075]
+05/12 17:15:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.782, 0.633, 0.100)	[env.py: 1079]
+05/12 17:15:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -143.6 deg	[env.py: 1082]
+05/12 17:15:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.933m	[env.py: 1086]
+05/12 17:15:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:15:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:15:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:15:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:15:39 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 17:15:39 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/12 17:15:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s	[base_object_manipulation_planner_policy.py: 377]
+05/12 17:15:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 17:15:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 17:15:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.066s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 17:15:41 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.146s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 17:15:41 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.506[m] 79.938[deg]	[grasp_sample.py: 539]
+05/12 17:15:41 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 17:15:41 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 17:15:41 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:15:41 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_019	[pipeline.py: 1174]
+05/12 17:15:41 INFO: [Worker 0] Batching and saving trajectory data for chunk_019 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/12 17:15:41 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 17:15:41 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 17:15:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 17:15:43 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_019	[save_utils.py: 785]
+05/12 17:15:43 INFO: [Worker 0] Successfully saved trajectory data for chunk_019 in 18.21s (batch: 6.41s, save: 11.80s)	[pipeline.py: 300]
+05/12 17:15:44 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=3.42s:
+  episode_total: mean=212.18s, total=212.18s, count=1, min=212182.9ms, max=212182.9ms
+  sensor_polling: mean=393.3ms, total=117.99s, count=300, min=380.7ms, max=645.3ms
+  save_trajectories: mean=11.80s, total=11.80s, count=1, min=11800.6ms, max=11800.6ms
+  physics_step: mean=23.4ms, total=7.02s, count=300, min=16.9ms, max=32.5ms
+  save_batch_prep: mean=6.41s, total=6.41s, count=1, min=6407.1ms, max=6407.1ms
+  task_sampling: mean=3.42s, total=3.42s, count=1, min=3420.8ms, max=3420.8ms
+  scene_load: mean=2.95s, total=2.95s, count=1, min=2952.9ms, max=2952.9ms
+  scene_env_create: mean=1.91s, total=1.91s, count=1, min=1913.7ms, max=1913.7ms
+  scene_compile: mean=873.2ms, total=873.2ms, count=1, min=873.2ms, max=873.2ms
+  compile_mujoco: mean=614.1ms, total=614.1ms, count=1, min=614.1ms, max=614.1ms
+  task_specific_sample: mean=465.4ms, total=465.4ms, count=1, min=465.4ms, max=465.4ms
+  compile_xml_load: mean=186.2ms, total=186.2ms, count=1, min=186.2ms, max=186.2ms
+  scene_init: mean=113.5ms, total=113.5ms, count=1, min=113.5ms, max=113.5ms
+  compile_aux_objects: mean=54.1ms, total=54.1ms, count=1, min=54.1ms, max=54.1ms
+  compile_aux_policy_objects: mean=54.1ms, total=54.1ms, count=1, min=54.1ms, max=54.1ms
+  scene_asset_install: mean=52.1ms, total=52.1ms, count=1, min=52.1ms, max=52.1ms
+  asset_install_grasps: mean=37.6ms, total=37.6ms, count=1, min=37.6ms, max=37.6ms
+  asset_install_objects: mean=11.2ms, total=11.2ms, count=1, min=11.2ms, max=11.2ms
+  compile_robot_add: mean=8.8ms, total=8.8ms, count=1, min=8.8ms, max=8.8ms
+  asset_install_scene: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms
+  scene_randomize: mean=1.0ms, total=1.0ms, count=1, min=1.0ms, max=1.0ms
+  mj_forward_sync: mean=450.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=24.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 17:15:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 17:15:45 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 17:15:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 17:15:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:15:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:15:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:15:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:15:45 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 17:15:45 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 17:15:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 17:15:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.006m, effective arm-mount z=0.866m (base_body_z=0.006m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 17:15:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 17:15:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 17:15:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.006137m	[env.py: 870]
+05/12 17:15:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 17:15:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 17:15:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 17:15:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.73945906  0.4340127   0.00613739] yaw=211.7deg	[env.py: 1019]
+05/12 17:15:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 17:15:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -30.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:15:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -75.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:15:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -64.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:15:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.86066949  0.67955647  0.00613739] yaw=-195.0deg	[env.py: 1019]
+05/12 17:15:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 17:15:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.94556191  0.7868939   0.00613739] yaw=-146.6deg	[env.py: 1019]
+05/12 17:15:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 17:15:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 17:15:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=146.7ms, total=146.7ms	[env.py: 1075]
+05/12 17:15:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.739, 0.434, 0.006)	[env.py: 1079]
+05/12 17:15:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 211.7 deg	[env.py: 1082]
+05/12 17:15:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.964m	[env.py: 1086]
+05/12 17:15:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:15:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:15:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:15:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:15:46 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 17:15:46 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/12 17:15:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.098s	[base_object_manipulation_planner_policy.py: 377]
+05/12 17:15:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 17:15:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 17:15:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 17:15:47 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.073s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 17:15:47 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.652[m] 87.591[deg]	[grasp_sample.py: 539]
+05/12 17:15:47 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 17:15:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 17:15:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:15:48 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 17:15:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 17:15:49 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_019	[save_utils.py: 785]
+05/12 17:15:49 INFO: [Worker 0] Successfully saved trajectory data for chunk_019 in 15.91s (batch: 4.18s, save: 11.73s)	[pipeline.py: 300]
+05/12 17:15:50 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=3.37s:
+  episode_total: mean=216.00s, total=216.00s, count=1, min=215998.4ms, max=215998.4ms
+  sensor_polling: mean=411.7ms, total=123.51s, count=300, min=390.7ms, max=702.3ms
+  save_trajectories: mean=11.73s, total=11.73s, count=1, min=11733.8ms, max=11733.8ms
+  physics_step: mean=23.7ms, total=7.12s, count=300, min=17.4ms, max=32.9ms
+  save_batch_prep: mean=4.18s, total=4.18s, count=1, min=4178.3ms, max=4178.3ms
+  task_sampling: mean=3.37s, total=3.37s, count=1, min=3368.7ms, max=3368.7ms
+  scene_load: mean=2.93s, total=2.93s, count=1, min=2934.0ms, max=2934.0ms
+  scene_env_create: mean=1.70s, total=1.70s, count=1, min=1703.3ms, max=1703.3ms
+  scene_compile: mean=1.06s, total=1.06s, count=1, min=1061.6ms, max=1061.6ms
+  compile_mujoco: mean=802.2ms, total=802.2ms, count=1, min=802.2ms, max=802.2ms
+  task_specific_sample: mean=432.1ms, total=432.1ms, count=1, min=432.1ms, max=432.1ms
+  compile_xml_load: mean=185.5ms, total=185.5ms, count=1, min=185.5ms, max=185.5ms
+  scene_init: mean=115.7ms, total=115.7ms, count=1, min=115.7ms, max=115.7ms
+  compile_aux_objects: mean=55.2ms, total=55.2ms, count=1, min=55.2ms, max=55.2ms
+  compile_aux_policy_objects: mean=55.2ms, total=55.2ms, count=1, min=55.2ms, max=55.2ms
+  scene_asset_install: mean=53.0ms, total=53.0ms, count=1, min=53.0ms, max=53.0ms
+  asset_install_grasps: mean=38.7ms, total=38.7ms, count=1, min=38.7ms, max=38.7ms
+  asset_install_objects: mean=11.0ms, total=11.0ms, count=1, min=11.0ms, max=11.0ms
+  compile_robot_add: mean=8.0ms, total=8.0ms, count=1, min=8.0ms, max=8.0ms
+  asset_install_scene: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms
+  scene_randomize: mean=1.1ms, total=1.1ms, count=1, min=1.1ms, max=1.1ms
+  mj_forward_sync: mean=446.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=28.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 17:15:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 17:15:52 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 17:15:52 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 17:15:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:15:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:15:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:15:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:15:52 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 17:15:52 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 17:15:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 17:15:52 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]
+05/12 17:15:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 17:15:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 17:15:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.004258m	[env.py: 870]
+05/12 17:15:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 17:15:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 17:15:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 17:15:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 57.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:15:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.72268038  0.65786949  0.00425814] yaw=-203.0deg	[env.py: 1019]
+05/12 17:15:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 17:15:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.79525204  0.40271373  0.00425814] yaw=152.6deg	[env.py: 1019]
+05/12 17:15:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 17:15:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 118.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:15:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -176.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:15:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.68638355  0.19790298  0.00425814] yaw=145.9deg	[env.py: 1019]
+05/12 17:15:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 17:15:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 17:15:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=171.6ms, total=171.6ms	[env.py: 1075]
+05/12 17:15:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.723, 0.658, 0.004)	[env.py: 1079]
+05/12 17:15:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -203.0 deg	[env.py: 1082]
+05/12 17:15:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.995m	[env.py: 1086]
+05/12 17:15:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:15:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:15:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:15:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:15:52 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 17:15:52 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/12 17:15:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.098s	[base_object_manipulation_planner_policy.py: 377]
+05/12 17:15:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 17:15:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 17:15:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.088s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 17:15:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.517s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 17:15:55 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.647[m] 84.516[deg]	[grasp_sample.py: 539]
+05/12 17:15:55 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 17:15:55 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 17:15:55 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:15:56 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 17:15:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 17:15:57 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_019	[save_utils.py: 785]
+05/12 17:15:57 INFO: [Worker 0] Successfully saved trajectory data for chunk_019 in 15.53s (batch: 4.09s, save: 11.44s)	[pipeline.py: 300]
+05/12 17:15:58 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=4.11s:
+  episode_total: mean=228.58s, total=228.58s, count=1, min=228576.7ms, max=228576.7ms
+  sensor_polling: mean=447.2ms, total=134.16s, count=300, min=399.0ms, max=765.6ms
+  save_trajectories: mean=11.44s, total=11.44s, count=1, min=11443.6ms, max=11443.6ms
+  physics_step: mean=26.5ms, total=7.94s, count=300, min=17.0ms, max=32.6ms
+  task_sampling: mean=4.11s, total=4.11s, count=1, min=4105.6ms, max=4105.6ms
+  save_batch_prep: mean=4.09s, total=4.09s, count=1, min=4087.6ms, max=4087.6ms
+  scene_load: mean=3.45s, total=3.45s, count=1, min=3454.5ms, max=3454.5ms
+  scene_env_create: mean=2.06s, total=2.06s, count=1, min=2061.5ms, max=2061.5ms
+  scene_compile: mean=1.22s, total=1.22s, count=1, min=1223.0ms, max=1223.0ms
+  compile_mujoco: mean=665.7ms, total=665.7ms, count=1, min=665.7ms, max=665.7ms
+  task_specific_sample: mean=647.6ms, total=647.6ms, count=1, min=647.6ms, max=647.6ms
+  compile_xml_load: mean=469.4ms, total=469.4ms, count=1, min=469.4ms, max=469.4ms
+  scene_init: mean=117.9ms, total=117.9ms, count=1, min=117.9ms, max=117.9ms
+  compile_aux_objects: mean=53.8ms, total=53.8ms, count=1, min=53.8ms, max=53.8ms
+  compile_aux_policy_objects: mean=53.8ms, total=53.8ms, count=1, min=53.8ms, max=53.8ms
+  scene_asset_install: mean=51.9ms, total=51.9ms, count=1, min=51.9ms, max=51.9ms
+  asset_install_grasps: mean=37.2ms, total=37.2ms, count=1, min=37.2ms, max=37.2ms
+  compile_robot_add: mean=23.3ms, total=23.3ms, count=1, min=23.3ms, max=23.3ms
+  asset_install_objects: mean=11.2ms, total=11.2ms, count=1, min=11.2ms, max=11.2ms
+  asset_install_scene: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms
+  scene_randomize: mean=1.4ms, total=1.4ms, count=1, min=1.4ms, max=1.4ms
+  mj_forward_sync: mean=610.1us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=19.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 17:15:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 17:15:59 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 17:15:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 17:15:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:15:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:15:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:15:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:15:59 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 17:15:59 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 17:15:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 17:15:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.046m, effective arm-mount z=0.906m (base_body_z=0.046m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 17:15:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 17:15:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 17:15:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.045941m	[env.py: 870]
+05/12 17:15:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 17:15:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 17:15:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 17:15:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -160.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:15:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 59.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:15:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 88.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:15:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -178.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:15:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -36.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:15:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.83039638  0.69479762  0.04594093] yaw=-181.7deg	[env.py: 1019]
+05/12 17:15:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 17:15:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.00910273  1.25319132  0.04594093] yaw=-98.7deg	[env.py: 1019]
+05/12 17:15:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 17:15:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 17:15:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=187.7ms, total=187.7ms	[env.py: 1075]
+05/12 17:15:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.830, 0.695, 0.046)	[env.py: 1079]
+05/12 17:15:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -181.7 deg	[env.py: 1082]
+05/12 17:15:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.898m	[env.py: 1086]
+05/12 17:15:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:15:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:15:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:15:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:16:00 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 17:16:00 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/12 17:16:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
+05/12 17:16:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 17:16:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 17:16:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 17:16:00 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.708s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 17:16:00 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.466[m] 84.728[deg]	[grasp_sample.py: 539]
+05/12 17:16:01 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 17:16:01 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 17:16:01 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:16:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:16:35 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 17:16:38 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:16:41 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:16:42 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:16:49 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 17:16:50 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 17:16:53 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:16:54 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:16:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:17:03 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 17:17:08 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:17:55 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 17:17:56 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 17:18:17 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 17:18:22 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_019	[pipeline.py: 1174]
+05/12 17:18:22 INFO: [Worker 0] Batching and saving trajectory data for chunk_019 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/12 17:18:22 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 17:18:23 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 17:18:25 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_019	[pipeline.py: 1174]
+05/12 17:18:25 INFO: [Worker 0] Batching and saving trajectory data for chunk_019 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/12 17:18:25 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 17:18:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 17:18:38 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_019	[save_utils.py: 785]
+05/12 17:18:38 INFO: [Worker 0] Successfully saved trajectory data for chunk_019 in 15.79s (batch: 4.34s, save: 11.45s)	[pipeline.py: 300]
+05/12 17:18:39 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.45s:
+  episode_total: mean=173.91s, total=173.91s, count=1, min=173913.4ms, max=173913.4ms
+  sensor_polling: mean=396.8ms, total=119.04s, count=300, min=379.4ms, max=670.9ms
+  save_trajectories: mean=11.45s, total=11.45s, count=1, min=11447.0ms, max=11447.0ms
+  physics_step: mean=22.3ms, total=6.69s, count=300, min=16.6ms, max=24.1ms
+  save_batch_prep: mean=4.34s, total=4.34s, count=1, min=4341.1ms, max=4341.1ms
+  task_sampling: mean=446.8ms, total=446.8ms, count=1, min=446.8ms, max=446.8ms
+  task_specific_sample: mean=442.9ms, total=442.9ms, count=1, min=442.9ms, max=442.9ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=451.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=58.7us, total=0.1ms, count=1, min=0.1ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 17:18:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 17:18:41 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 17:18:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 17:18:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:18:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:18:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:18:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:18:41 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 17:18:41 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 17:18:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 17:18:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.052m, effective arm-mount z=0.912m (base_body_z=0.052m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 17:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 17:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 17:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.052026m	[env.py: 870]
+05/12 17:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 17:18:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 17:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 17:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -169.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 164.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 101.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:18:41 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 17:18:41 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_019	[save_utils.py: 785]
+05/12 17:18:41 INFO: [Worker 0] Successfully saved trajectory data for chunk_019 in 16.36s (batch: 4.48s, save: 11.88s)	[pipeline.py: 300]
+05/12 17:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.05979341  1.16813872  0.05202593] yaw=-159.5deg	[env.py: 1019]
+05/12 17:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 17:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 167.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.00915322  1.24155782  0.05202593] yaw=-158.1deg	[env.py: 1019]
+05/12 17:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 17:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.61960422  0.67171208  0.05202593] yaw=-139.4deg	[env.py: 1019]
+05/12 17:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 17:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 17:18:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=559.8ms, total=559.9ms	[env.py: 1075]
+05/12 17:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.060, 1.168, 0.052)	[env.py: 1079]
+05/12 17:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -159.5 deg	[env.py: 1082]
+05/12 17:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.940m	[env.py: 1086]
+05/12 17:18:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:18:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:18:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:18:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:18:42 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 17:18:42 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/12 17:18:42 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=4.55s:
+  episode_total: mean=195.38s, total=390.77s, count=2, min=182729.2ms, max=208040.5ms
+  sensor_polling: mean=420.4ms, total=240.88s, count=573, min=384.9ms, max=865.9ms
+  physics_step: mean=23.6ms, total=13.54s, count=573, min=15.0ms, max=36.5ms
+  save_trajectories: mean=11.88s, total=11.88s, count=1, min=11882.8ms, max=11882.8ms
+  task_sampling: mean=2.27s, total=4.55s, count=2, min=486.9ms, max=4059.3ms
+  save_batch_prep: mean=4.48s, total=4.48s, count=1, min=4477.5ms, max=4477.5ms
+  scene_load: mean=3.30s, total=3.30s, count=1, min=3304.9ms, max=3304.9ms
+  scene_env_create: mean=2.01s, total=2.01s, count=1, min=2013.0ms, max=2013.0ms
+  task_specific_sample: mean=618.0ms, total=1.24s, count=2, min=484.2ms, max=751.8ms
+  scene_compile: mean=1.12s, total=1.12s, count=1, min=1119.2ms, max=1119.2ms
+  compile_mujoco: mean=667.8ms, total=667.8ms, count=1, min=667.8ms, max=667.8ms
+  compile_xml_load: mean=363.0ms, total=363.0ms, count=1, min=363.0ms, max=363.0ms
+  scene_init: mean=119.2ms, total=119.2ms, count=1, min=119.2ms, max=119.2ms
+  compile_aux_objects: mean=54.2ms, total=54.2ms, count=1, min=54.2ms, max=54.2ms
+  compile_aux_policy_objects: mean=54.2ms, total=54.2ms, count=1, min=54.2ms, max=54.2ms
+  scene_asset_install: mean=53.2ms, total=53.2ms, count=1, min=53.2ms, max=53.2ms
+  asset_install_grasps: mean=37.8ms, total=37.8ms, count=1, min=37.8ms, max=37.8ms
+  compile_robot_add: mean=23.5ms, total=23.5ms, count=1, min=23.5ms, max=23.5ms
+  asset_install_objects: mean=11.5ms, total=11.5ms, count=1, min=11.5ms, max=11.5ms
+  asset_install_scene: mean=3.9ms, total=3.9ms, count=1, min=3.9ms, max=3.9ms
+  scene_randomize: mean=1.2ms, total=2.4ms, count=2, min=1.1ms, max=1.3ms
+  mj_forward_sync: mean=443.0us, total=0.9ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=19.3us, 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]
+05/12 17:18:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.121s	[base_object_manipulation_planner_policy.py: 377]
+05/12 17:18:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 17:18:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 17:18:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.066s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 17:18:43 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.052s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 17:18:43 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.612[m] 93.535[deg]	[grasp_sample.py: 539]
+05/12 17:18:43 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 17:18:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 17:18:43 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 17:18:43 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 17:18:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:18:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:18:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:18:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:18:43 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 17:18:43 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 17:18:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 17:18:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.028m, effective arm-mount z=0.888m (base_body_z=0.028m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 17:18:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 17:18:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 17:18:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.028072m	[env.py: 870]
+05/12 17:18:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 17:18:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 17:18:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 17:18:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 128.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:18:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.71402585  0.94689944  0.02807223] yaw=-168.0deg	[env.py: 1019]
+05/12 17:18:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 17:18:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.87977065  0.50700739  0.02807223] yaw=-181.7deg	[env.py: 1019]
+05/12 17:18:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 17:18:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.93929006  1.10375669  0.02807223] yaw=-175.9deg	[env.py: 1019]
+05/12 17:18:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 17:18:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 17:18:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=185.8ms, total=185.8ms	[env.py: 1075]
+05/12 17:18:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.714, 0.947, 0.028)	[env.py: 1079]
+05/12 17:18:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -168.0 deg	[env.py: 1082]
+05/12 17:18:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.092m	[env.py: 1086]
+05/12 17:18:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:18:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:18:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:18:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:18:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 17:18:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:18:43 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 17:18:43 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/12 17:18:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.105s	[base_object_manipulation_planner_policy.py: 377]
+05/12 17:18:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 17:18:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 17:18:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.086s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 17:18:44 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_019	[pipeline.py: 1174]
+05/12 17:18:44 INFO: [Worker 0] Batching and saving trajectory data for chunk_019 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/12 17:18:44 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 17:18:46 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.566s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 17:18:46 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.689[m] 93.867[deg]	[grasp_sample.py: 539]
+05/12 17:18:46 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 17:18:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 17:18:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:18:47 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 17:18:50 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_019	[pipeline.py: 1174]
+05/12 17:18:50 INFO: [Worker 0] Batching and saving trajectory data for chunk_019 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/12 17:18:50 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 17:19:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 17:19:00 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_019	[save_utils.py: 785]
+05/12 17:19:00 INFO: [Worker 0] Successfully saved trajectory data for chunk_019 in 15.57s (batch: 4.23s, save: 11.33s)	[pipeline.py: 300]
+05/12 17:19:01 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.47s:
+  episode_total: mean=181.63s, total=181.63s, count=1, min=181631.9ms, max=181631.9ms
+  sensor_polling: mean=418.8ms, total=125.64s, count=300, min=398.3ms, max=804.2ms
+  save_trajectories: mean=11.33s, total=11.33s, count=1, min=11334.9ms, max=11334.9ms
+  physics_step: mean=23.7ms, total=7.11s, count=300, min=21.4ms, max=32.0ms
+  save_batch_prep: mean=4.23s, total=4.23s, count=1, min=4230.4ms, max=4230.4ms
+  task_sampling: mean=469.9ms, total=469.9ms, count=1, min=469.9ms, max=469.9ms
+  task_specific_sample: mean=465.6ms, total=465.6ms, count=1, min=465.6ms, max=465.6ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=482.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=42.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 17:19:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 17:19:02 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 17:19:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 17:19:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:19:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:19:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:19:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:19:02 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 17:19:02 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]
+05/12 17:19:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 17:19:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.066m, effective arm-mount z=0.926m (base_body_z=0.066m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 17:19:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 17:19:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 17:19:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.065876m	[env.py: 870]
+05/12 17:19:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 17:19:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 17:19:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 17:19:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.94123566  0.81472659  0.06587587] yaw=-123.6deg	[env.py: 1019]
+05/12 17:19:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 17:19:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -28.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:19:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.84373355  1.14915474  0.06587587] yaw=-130.7deg	[env.py: 1019]
+05/12 17:19:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 17:19:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.02079098  0.12187577  0.06587587] yaw=187.3deg	[env.py: 1019]
+05/12 17:19:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 17:19:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 17:19:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=117.3ms, total=117.3ms	[env.py: 1075]
+05/12 17:19:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.941, 0.815, 0.066)	[env.py: 1079]
+05/12 17:19:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -123.6 deg	[env.py: 1082]
+05/12 17:19:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.831m	[env.py: 1086]
+05/12 17:19:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:19:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:19:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:19:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:19:03 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 17:19:03 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/12 17:19:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.108s	[base_object_manipulation_planner_policy.py: 377]
+05/12 17:19:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 17:19:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 17:19:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 17:19:04 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.970s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 17:19:04 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.524[m] 100.142[deg]	[grasp_sample.py: 539]
+05/12 17:19:04 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 17:19:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 17:19:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:19:05 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 17:19:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 17:19:06 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_019	[save_utils.py: 785]
+05/12 17:19:06 INFO: [Worker 0] Successfully saved trajectory data for chunk_019 in 15.22s (batch: 3.90s, save: 11.32s)	[pipeline.py: 300]
+05/12 17:19:06 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.48s:
+  episode_total: mean=194.62s, total=194.62s, count=1, min=194620.2ms, max=194620.2ms
+  sensor_polling: mean=451.4ms, total=135.42s, count=300, min=394.1ms, max=775.2ms
+  save_trajectories: mean=11.32s, total=11.32s, count=1, min=11318.2ms, max=11318.2ms
+  physics_step: mean=27.8ms, total=8.34s, count=300, min=17.9ms, max=40.0ms
+  save_batch_prep: mean=3.90s, total=3.90s, count=1, min=3903.3ms, max=3903.3ms
+  task_sampling: mean=483.8ms, total=483.8ms, count=1, min=483.8ms, max=483.8ms
+  task_specific_sample: mean=479.3ms, total=479.3ms, count=1, min=479.3ms, max=479.3ms
+  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
+  mj_forward_sync: mean=465.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=20.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 17:19:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 17:19:08 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 17:19:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 17:19:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:19:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:19:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:19:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:19:08 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 17:19:08 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 17:19:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 17:19:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.093m, effective arm-mount z=0.953m (base_body_z=0.093m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 17:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 17:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 17:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.093271m	[env.py: 870]
+05/12 17:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 17:19:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 17:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 17:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 65.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -71.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 76.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.92551845  0.29889697  0.09327051] yaw=199.4deg	[env.py: 1019]
+05/12 17:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 17:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.77634921  0.33611281  0.09327051] yaw=187.9deg	[env.py: 1019]
+05/12 17:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 17:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.9934389   0.75716049  0.09327051] yaw=-142.8deg	[env.py: 1019]
+05/12 17:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 17:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 17:19:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=144.5ms, total=144.5ms	[env.py: 1075]
+05/12 17:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.926, 0.299, 0.093)	[env.py: 1079]
+05/12 17:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 199.4 deg	[env.py: 1082]
+05/12 17:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.798m	[env.py: 1086]
+05/12 17:19:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:19:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:19:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:19:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:19:08 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 17:19:08 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/12 17:19:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.118s	[base_object_manipulation_planner_policy.py: 377]
+05/12 17:19:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 17:19:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 17:19:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 17:19:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.089s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 17:19:09 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.467[m] 82.462[deg]	[grasp_sample.py: 539]
+05/12 17:19:09 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 17:19:10 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 17:19:10 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:19:10 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 17:19:33 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:19:42 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 17:19:46 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:19:47 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:19:52 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:19:52 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:19:57 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 17:20:00 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 17:20:00 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 17:20:01 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:20:04 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:20:05 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:20:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:20:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:20:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:20:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:20:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:20:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:20:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:20:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:20:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:20:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:20:43 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 17:20:43 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 17:20:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 17:20:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 17:20:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/12 17:20:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:20:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:20:45 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.724s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 17:20:45 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.614[deg]	[grasp_sample.py: 539]
+05/12 17:20:45 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 17:20:46 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 17:20:46 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:20:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:20:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:20:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:20:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:20:52 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 17:20:52 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 17:20:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 17:20:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 17:20:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.099s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/12 17:20:53 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.898s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 17:20:53 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.108[m] 0.114[deg]	[grasp_sample.py: 539]
+05/12 17:20:55 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/12 17:20:55 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:20:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 17:20:57 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 17:20:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 17:20:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:20:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:20:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:20:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:20:57 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 17:20:57 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 17:20:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 17:20:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.001m, effective arm-mount z=0.861m (base_body_z=0.001m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 17:20:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 17:20:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 17:20:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.000817m	[env.py: 870]
+05/12 17:20:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 17:20:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 17:20:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 17:20:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-9.38171211e-01  2.03816626e-01  8.16936937e-04] yaw=193.4deg	[env.py: 1019]
+05/12 17:20:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 17:20:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.15417113e+00  1.13692242e+00  8.16936937e-04] yaw=-151.2deg	[env.py: 1019]
+05/12 17:20:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 17:20:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -39.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:20:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -44.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:20:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-8.79889206e-01  3.52260786e-01  8.16936937e-04] yaw=196.0deg	[env.py: 1019]
+05/12 17:20:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 17:20:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 17:20:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=144.5ms, total=144.6ms	[env.py: 1075]
+05/12 17:20:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.938, 0.204, 0.001)	[env.py: 1079]
+05/12 17:20:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 193.4 deg	[env.py: 1082]
+05/12 17:20:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.813m	[env.py: 1086]
+05/12 17:20:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:20:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:20:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:20:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:20:57 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 17:20:57 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/12 17:20:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s	[base_object_manipulation_planner_policy.py: 377]
+05/12 17:20:57 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]
+05/12 17:20:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 17:20:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 17:20:58 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.819s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 17:20:58 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.449[m] 75.841[deg]	[grasp_sample.py: 539]
+05/12 17:20:58 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 17:20:59 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 17:20:59 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:20:59 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 17:21:03 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 17:21:05 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 17:21:06 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 17:21:22 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 17:21:30 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_019	[pipeline.py: 1174]
+05/12 17:21:30 INFO: [Worker 0] Batching and saving trajectory data for chunk_019 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/12 17:21:30 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 17:21:35 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_019	[pipeline.py: 1174]
+05/12 17:21:35 INFO: [Worker 0] Batching and saving trajectory data for chunk_019 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/12 17:21:35 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 17:21:40 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:21:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 17:21:45 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_019	[save_utils.py: 785]
+05/12 17:21:45 INFO: [Worker 0] Successfully saved trajectory data for chunk_019 in 15.03s (batch: 3.70s, save: 11.33s)	[pipeline.py: 300]
+05/12 17:21:46 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.49s:
+  episode_total: mean=183.01s, total=183.01s, count=1, min=183014.7ms, max=183014.7ms
+  sensor_polling: mean=428.1ms, total=128.44s, count=300, min=381.8ms, max=881.5ms
+  save_trajectories: mean=11.33s, total=11.33s, count=1, min=11329.2ms, max=11329.2ms
+  physics_step: mean=24.3ms, total=7.30s, count=300, min=17.6ms, max=33.3ms
+  save_batch_prep: mean=3.70s, total=3.70s, count=1, min=3698.8ms, max=3698.8ms
+  task_sampling: mean=492.1ms, total=492.1ms, count=1, min=492.1ms, max=492.1ms
+  task_specific_sample: mean=488.0ms, total=488.0ms, count=1, min=488.0ms, max=488.0ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=449.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=31.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 17:21:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 17:21:48 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 17:21:48 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 17:21:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:21:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:21:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:21:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:21:48 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 17:21:48 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 17:21:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 17:21:48 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]
+05/12 17:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 17:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 17:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.096418m	[env.py: 870]
+05/12 17:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 17:21:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 17:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 17:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 88.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -43.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -67.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.65488145  0.17348909  0.09641773] yaw=185.0deg	[env.py: 1019]
+05/12 17:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 17:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -172.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.74636158  0.29748211  0.09641773] yaw=130.9deg	[env.py: 1019]
+05/12 17:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 17:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 17:21:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=196.6ms, total=196.7ms	[env.py: 1075]
+05/12 17:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.655, 0.173, 0.096)	[env.py: 1079]
+05/12 17:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 185.0 deg	[env.py: 1082]
+05/12 17:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.092m	[env.py: 1086]
+05/12 17:21:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:21:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:21:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:21:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:21:48 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 17:21:48 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/12 17:21:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.114s	[base_object_manipulation_planner_policy.py: 377]
+05/12 17:21:48 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]
+05/12 17:21:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 17:21:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 17:21:49 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 17:21:50 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_019	[pipeline.py: 1174]
+05/12 17:21:50 INFO: [Worker 0] Batching and saving trajectory data for chunk_019 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/12 17:21:50 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 17:21:50 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.986s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 17:21:50 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.670[m] 88.785[deg]	[grasp_sample.py: 539]
+05/12 17:21:50 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 17:21:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 17:21:51 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 17:21:51 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:21:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_019	[save_utils.py: 785]
+05/12 17:21:51 INFO: [Worker 0] Successfully saved trajectory data for chunk_019 in 16.29s (batch: 4.67s, save: 11.62s)	[pipeline.py: 300]
+05/12 17:21:51 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 17:21:52 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.86s:
+  episode_total: mean=190.99s, total=190.99s, count=1, min=190989.2ms, max=190989.2ms
+  sensor_polling: mean=403.9ms, total=121.16s, count=300, min=386.8ms, max=719.4ms
+  save_trajectories: mean=11.62s, total=11.62s, count=1, min=11617.4ms, max=11617.4ms
+  physics_step: mean=22.8ms, total=6.83s, count=300, min=15.7ms, max=29.3ms
+  save_batch_prep: mean=4.67s, total=4.67s, count=1, min=4671.5ms, max=4671.5ms
+  task_sampling: mean=863.7ms, total=863.7ms, count=1, min=863.7ms, max=863.7ms
+  task_specific_sample: mean=860.0ms, total=860.0ms, count=1, min=860.0ms, max=860.0ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=447.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=25.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 17:21:53 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:21:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 17:21:53 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 17:21:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 17:21:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:21:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:21:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:21:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:21:53 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 17:21:53 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 17:21:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 17:21:53 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]
+05/12 17:21:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 17:21:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 17:21:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.002397m	[env.py: 870]
+05/12 17:21:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 17:21:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 17:21:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 17:21:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 55.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:21:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 100.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:21:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 60.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:21:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.85432745  0.48362483  0.00239697] yaw=-156.1deg	[env.py: 1019]
+05/12 17:21:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 17:21:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -159.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:21:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.8453175   0.7863299   0.00239697] yaw=-127.1deg	[env.py: 1019]
+05/12 17:21:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 17:21:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.74223672  0.53833876  0.00239697] yaw=-188.8deg	[env.py: 1019]
+05/12 17:21:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 17:21:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 17:21:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=204.2ms, total=204.3ms	[env.py: 1075]
+05/12 17:21:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.854, 0.484, 0.002)	[env.py: 1079]
+05/12 17:21:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -156.1 deg	[env.py: 1082]
+05/12 17:21:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.848m	[env.py: 1086]
+05/12 17:21:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:21:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:21:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:21:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:21:54 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 17:21:54 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/12 17:21:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.108s	[base_object_manipulation_planner_policy.py: 377]
+05/12 17:21:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 17:21:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 17:21:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 17:21:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.893s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 17:21:55 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.470[m] 85.533[deg]	[grasp_sample.py: 539]
+05/12 17:21:55 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 17:21:55 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 17:21:55 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:21:56 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 17:22:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 17:22:05 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_019	[save_utils.py: 785]
+05/12 17:22:05 INFO: [Worker 0] Successfully saved trajectory data for chunk_019 in 15.47s (batch: 4.33s, save: 11.14s)	[pipeline.py: 300]
+05/12 17:22:06 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.43s:
+  episode_total: mean=184.03s, total=184.03s, count=1, min=184030.2ms, max=184030.2ms
+  sensor_polling: mean=427.9ms, total=128.38s, count=300, min=391.3ms, max=782.8ms
+  save_trajectories: mean=11.14s, total=11.14s, count=1, min=11136.1ms, max=11136.1ms
+  physics_step: mean=24.9ms, total=7.47s, count=300, min=16.8ms, max=34.8ms
+  save_batch_prep: mean=4.33s, total=4.33s, count=1, min=4331.2ms, max=4331.2ms
+  task_sampling: mean=430.7ms, total=430.7ms, count=1, min=430.7ms, max=430.7ms
+  task_specific_sample: mean=426.7ms, total=426.7ms, count=1, min=426.7ms, max=426.7ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=464.3us, 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]
+05/12 17:22:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 17:22:08 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 17:22:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 17:22:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:22:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:22:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:22:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:22:08 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 17:22:08 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 17:22:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 17:22:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.003m, effective arm-mount z=0.863m (base_body_z=0.003m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 17:22:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 17:22:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 17:22:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.003287m	[env.py: 870]
+05/12 17:22:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 17:22:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 17:22:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 17:22:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -43.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:22:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.75054712  0.10200469  0.00328665] yaw=122.3deg	[env.py: 1019]
+05/12 17:22:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 17:22:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.79394284  0.34769537  0.00328665] yaw=157.3deg	[env.py: 1019]
+05/12 17:22:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 17:22:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -78.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:22:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 80.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:22:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.80083227  1.00476692  0.00328665] yaw=-172.1deg	[env.py: 1019]
+05/12 17:22:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 17:22:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 17:22:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=208.2ms, total=208.2ms	[env.py: 1075]
+05/12 17:22:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.751, 0.102, 0.003)	[env.py: 1079]
+05/12 17:22:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 122.3 deg	[env.py: 1082]
+05/12 17:22:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.025m	[env.py: 1086]
+05/12 17:22:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:22:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:22:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:22:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:22:08 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 17:22:08 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/12 17:22:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.123s	[base_object_manipulation_planner_policy.py: 377]
+05/12 17:22:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 17:22:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 17:22:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.090s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 17:22:12 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.974s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 17:22:12 INFO: [Worker 0] Feasible grasp found 70 (originally 70): w/ 0.628[m] 92.439[deg]	[grasp_sample.py: 539]
+05/12 17:22:12 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 17:22:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 17:22:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:22:13 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 17:22:35 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:22:43 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 17:22:47 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:22:51 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:22:59 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 17:22:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:23:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:23:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:23:03 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:23:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:23:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:23:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:23:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:23:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:23:11 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 17:23:11 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 17:23:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 17:23:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 17:23:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.094s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/12 17:23:12 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:23:13 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.975s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 17:23:13 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.107[m] 0.608[deg]	[grasp_sample.py: 539]
+05/12 17:23:13 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 17:23:14 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 17:23:14 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:23:21 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 17:23:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:23:26 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:23:31 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 17:23:35 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:23:44 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 17:24:06 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 17:24:08 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 17:24:16 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_019	[pipeline.py: 1174]
+05/12 17:24:16 INFO: [Worker 0] Batching and saving trajectory data for chunk_019 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/12 17:24:16 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 17:24:31 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_019	[pipeline.py: 1174]
+05/12 17:24:31 INFO: [Worker 0] Batching and saving trajectory data for chunk_019 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/12 17:24:31 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 17:24:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 17:24:32 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_019	[save_utils.py: 785]
+05/12 17:24:32 INFO: [Worker 0] Successfully saved trajectory data for chunk_019 in 16.38s (batch: 4.40s, save: 11.98s)	[pipeline.py: 300]
+05/12 17:24:33 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.93s:
+  episode_total: mean=161.58s, total=323.17s, count=2, min=107458.7ms, max=215710.0ms
+  sensor_polling: mean=433.5ms, total=216.29s, count=499, min=395.3ms, max=879.0ms
+  physics_step: mean=24.2ms, total=12.09s, count=499, min=15.5ms, max=45.5ms
+  save_trajectories: mean=11.98s, total=11.98s, count=1, min=11981.6ms, max=11981.6ms
+  save_batch_prep: mean=4.40s, total=4.40s, count=1, min=4397.7ms, max=4397.7ms
+  task_sampling: mean=464.2ms, total=928.3ms, count=2, min=449.3ms, max=479.0ms
+  task_specific_sample: mean=460.3ms, total=920.5ms, count=2, min=445.7ms, max=474.9ms
+  scene_randomize: mean=2.2ms, total=4.3ms, count=2, min=1.6ms, max=2.7ms
+  mj_forward_sync: mean=504.4us, total=1.0ms, count=2, min=0.5ms, max=0.6ms
+  policy_setup: mean=19.5us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 17:24:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 17:24:34 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 17:24:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 17:24:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:24:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:24:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:24:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:24:34 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 17:24:34 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]
+05/12 17:24:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 17:24:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.040m, effective arm-mount z=0.900m (base_body_z=0.040m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 17:24:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 17:24:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 17:24:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.039656m	[env.py: 870]
+05/12 17:24:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 17:24:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 17:24:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 17:24:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 129.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:24:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -40.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:24:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -164.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:24:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.67665256  0.48518948  0.03965614] yaw=-172.9deg	[env.py: 1019]
+05/12 17:24:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 17:24:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 88.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:24:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.82269828  0.56499254  0.03965614] yaw=-157.7deg	[env.py: 1019]
+05/12 17:24:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 17:24:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 17:24:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=191.0ms, total=191.1ms	[env.py: 1075]
+05/12 17:24:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.677, 0.485, 0.040)	[env.py: 1079]
+05/12 17:24:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -172.9 deg	[env.py: 1082]
+05/12 17:24:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.026m	[env.py: 1086]
+05/12 17:24:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:24:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:24:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:24:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:24:35 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 17:24:35 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/12 17:24:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.114s	[base_object_manipulation_planner_policy.py: 377]
+05/12 17:24:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 17:24:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 17:24:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.089s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 17:24:36 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.964s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 17:24:36 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.580[m] 90.343[deg]	[grasp_sample.py: 539]
+05/12 17:24:36 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 17:24:36 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 17:24:36 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:24:37 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 17:24:38 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_019	[pipeline.py: 1174]
+05/12 17:24:38 INFO: [Worker 0] Batching and saving trajectory data for chunk_019 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/12 17:24:38 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 17:24:41 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 17:24:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 17:24:47 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_019	[save_utils.py: 785]
+05/12 17:24:47 INFO: [Worker 0] Successfully saved trajectory data for chunk_019 in 15.70s (batch: 4.22s, save: 11.48s)	[pipeline.py: 300]
+05/12 17:24:48 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.52s:
+  episode_total: mean=179.99s, total=179.99s, count=1, min=179985.8ms, max=179985.8ms
+  sensor_polling: mean=418.7ms, total=125.61s, count=300, min=393.8ms, max=926.7ms
+  save_trajectories: mean=11.48s, total=11.48s, count=1, min=11480.8ms, max=11480.8ms
+  physics_step: mean=24.1ms, total=7.24s, count=300, min=16.8ms, max=39.4ms
+  save_batch_prep: mean=4.22s, total=4.22s, count=1, min=4218.3ms, max=4218.3ms
+  task_sampling: mean=515.9ms, total=515.9ms, count=1, min=515.9ms, max=515.9ms
+  task_specific_sample: mean=511.7ms, total=511.7ms, count=1, min=511.7ms, max=511.7ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=452.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=21.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 17:24:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 17:24:49 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 17:24:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 17:24:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:24:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:24:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:24:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:24:49 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 17:24:49 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]
+05/12 17:24:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 17:24:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.041m, effective arm-mount z=0.901m (base_body_z=0.041m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 17:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 17:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 17:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.041174m	[env.py: 870]
+05/12 17:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 17:24:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 17:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 17:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 128.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -73.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -49.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.17583465  1.10533191  0.04117442] yaw=-103.9deg	[env.py: 1019]
+05/12 17:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 17:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 52.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.69212562  0.39064069  0.04117442] yaw=140.3deg	[env.py: 1019]
+05/12 17:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 17:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.08713063  0.99528166  0.04117442] yaw=-116.1deg	[env.py: 1019]
+05/12 17:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 17:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 17:24:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=423.1ms, total=423.1ms	[env.py: 1075]
+05/12 17:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.176, 1.105, 0.041)	[env.py: 1079]
+05/12 17:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -103.9 deg	[env.py: 1082]
+05/12 17:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.816m	[env.py: 1086]
+05/12 17:24:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:24:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:24:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:24:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:24:50 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 17:24:50 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/12 17:24:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.112s	[base_object_manipulation_planner_policy.py: 377]
+05/12 17:24:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 17:24:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 17:24:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 17:24:51 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.007s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 17:24:51 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.429[m] 94.315[deg]	[grasp_sample.py: 539]
+05/12 17:24:51 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 17:24:51 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 17:24:51 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:24:52 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 17:24:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 17:24:53 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_019	[save_utils.py: 785]
+05/12 17:24:53 INFO: [Worker 0] Successfully saved trajectory data for chunk_019 in 15.92s (batch: 4.31s, save: 11.61s)	[pipeline.py: 300]
+05/12 17:24:54 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.51s:
+  episode_total: mean=181.02s, total=181.02s, count=1, min=181015.2ms, max=181015.2ms
+  sensor_polling: mean=410.1ms, total=123.03s, count=300, min=387.6ms, max=719.4ms
+  save_trajectories: mean=11.61s, total=11.61s, count=1, min=11607.0ms, max=11607.0ms
+  physics_step: mean=24.1ms, total=7.22s, count=300, min=16.6ms, max=33.6ms
+  save_batch_prep: mean=4.31s, total=4.31s, count=1, min=4308.0ms, max=4308.0ms
+  task_sampling: mean=505.8ms, total=505.8ms, count=1, min=505.8ms, max=505.8ms
+  task_specific_sample: mean=501.8ms, total=501.8ms, count=1, min=501.8ms, max=501.8ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=447.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=25.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 17:24:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 17:24:56 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 17:24:56 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 17:24:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:24:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:24:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:24:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:24:56 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 17:24:56 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 17:24:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 17:24:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.060m, effective arm-mount z=0.920m (base_body_z=0.060m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 17:24:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 17:24:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 17:24:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.059716m	[env.py: 870]
+05/12 17:24:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 17:24:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 17:24:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 17:24:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 53.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:24:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.7458919   0.14247864  0.05971605] yaw=155.1deg	[env.py: 1019]
+05/12 17:24:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 17:24:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 71.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:24:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 126.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:24:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -32.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:24:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.09990087  0.96628914  0.05971605] yaw=-122.5deg	[env.py: 1019]
+05/12 17:24:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 17:24:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 17:24:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=211.5ms, total=211.5ms	[env.py: 1075]
+05/12 17:24:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.746, 0.142, 0.060)	[env.py: 1079]
+05/12 17:24:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 155.1 deg	[env.py: 1082]
+05/12 17:24:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.015m	[env.py: 1086]
+05/12 17:24:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:24:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:24:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:24:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:24:56 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 17:24:56 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/12 17:24:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.112s	[base_object_manipulation_planner_policy.py: 377]
+05/12 17:24:56 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]
+05/12 17:24:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 17:24:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 17:24:59 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.387s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 17:24:59 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.540[m] 86.362[deg]	[grasp_sample.py: 539]
+05/12 17:24:59 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 17:24:59 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 17:24:59 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:25:00 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 17:25:10 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_019	[pipeline.py: 1174]
+05/12 17:25:10 INFO: [Worker 0] Batching and saving trajectory data for chunk_019 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/12 17:25:10 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 17:25:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 17:25:25 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_019	[save_utils.py: 785]
+05/12 17:25:25 INFO: [Worker 0] Successfully saved trajectory data for chunk_019 in 15.39s (batch: 4.15s, save: 11.24s)	[pipeline.py: 300]
+05/12 17:25:26 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.57s:
+  episode_total: mean=198.59s, total=198.59s, count=1, min=198590.5ms, max=198590.5ms
+  sensor_polling: mean=441.9ms, total=132.57s, count=300, min=390.6ms, max=818.5ms
+  save_trajectories: mean=11.24s, total=11.24s, count=1, min=11241.1ms, max=11241.1ms
+  physics_step: mean=26.0ms, total=7.80s, count=300, min=21.5ms, max=33.3ms
+  save_batch_prep: mean=4.15s, total=4.15s, count=1, min=4145.6ms, max=4145.6ms
+  task_sampling: mean=567.0ms, total=567.0ms, count=1, min=567.0ms, max=567.0ms
+  task_specific_sample: mean=562.8ms, total=562.8ms, count=1, min=562.8ms, max=562.8ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=456.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=36.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 17:25:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 17:25:28 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 17:25:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 17:25:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:25:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:25:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:25:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:25:28 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 17:25:28 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 17:25:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 17:25:28 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]
+05/12 17:25:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 17:25:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 17:25:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.075014m	[env.py: 870]
+05/12 17:25:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 17:25:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 17:25:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 17:25:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 72.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:25:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 106.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:25:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.72406589  0.25442283  0.07501382] yaw=172.7deg	[env.py: 1019]
+05/12 17:25:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 17:25:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 80.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:25:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 111.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:25:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.91738633  0.83833203  0.07501382] yaw=-121.5deg	[env.py: 1019]
+05/12 17:25:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 17:25:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 17:25:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=640.3ms, total=640.3ms	[env.py: 1075]
+05/12 17:25:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.724, 0.254, 0.075)	[env.py: 1079]
+05/12 17:25:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 172.7 deg	[env.py: 1082]
+05/12 17:25:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.004m	[env.py: 1086]
+05/12 17:25:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:25:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:25:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:25:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:25:29 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 17:25:29 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/12 17:25:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.112s	[base_object_manipulation_planner_policy.py: 377]
+05/12 17:25:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 17:25:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 17:25:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.084s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 17:25:29 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:25:30 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.923s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 17:25:30 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.532[m] 80.360[deg]	[grasp_sample.py: 539]
+05/12 17:25:30 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 17:25:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 17:25:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:25:30 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:25:31 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 17:25:38 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 17:25:40 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 17:25:43 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:25:45 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:25:45 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:25:54 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 17:25:57 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:26:16 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:26:26 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 17:26:31 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:26:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:26:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:26:53 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 17:26:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:26:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:26:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:26:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:27:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:27:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:27:03 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 17:27:03 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 17:27:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 17:27:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 17:27:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 86 non-colliding grasps	[grasp_sample.py: 465]
+05/12 17:27:05 INFO: [Worker 0] Feasibility-checked 86 grasps in 2.542s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 17:27:05 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.212[m] 18.609[deg]	[grasp_sample.py: 539]
+05/12 17:27:07 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/12 17:27:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 17:27:08 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 17:27:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 17:27:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:27:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:27:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:27:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:27:08 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 17:27:08 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 17:27:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 17:27:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.031m, effective arm-mount z=0.891m (base_body_z=0.031m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 17:27:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 17:27:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 17:27:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.031187m	[env.py: 870]
+05/12 17:27:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 17:27:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 17:27:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 17:27:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.98766753  0.87892044  0.03118679] yaw=-133.1deg	[env.py: 1019]
+05/12 17:27:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 17:27:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 102.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:27:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -29.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:27:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.82717111  1.11742706  0.03118679] yaw=-141.6deg	[env.py: 1019]
+05/12 17:27:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 17:27:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 100.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:27:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.75885011 -0.00741643  0.03118679] yaw=139.9deg	[env.py: 1019]
+05/12 17:27:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 17:27:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 17:27:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=204.0ms, total=204.1ms	[env.py: 1075]
+05/12 17:27:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.988, 0.879, 0.031)	[env.py: 1079]
+05/12 17:27:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -133.1 deg	[env.py: 1082]
+05/12 17:27:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.817m	[env.py: 1086]
+05/12 17:27:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:27:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:27:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:27:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:27:09 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 17:27:09 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/12 17:27:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s	[base_object_manipulation_planner_policy.py: 377]
+05/12 17:27:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 17:27:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 17:27:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 17:27:10 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.857s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 17:27:10 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.453[m] 100.074[deg]	[grasp_sample.py: 539]
+05/12 17:27:10 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 17:27:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 17:27:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:27:11 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 17:27:14 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 17:27:20 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_019	[pipeline.py: 1174]
+05/12 17:27:20 INFO: [Worker 0] Batching and saving trajectory data for chunk_019 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/12 17:27:20 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 17:27:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 17:27:35 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_019	[save_utils.py: 785]
+05/12 17:27:35 INFO: [Worker 0] Successfully saved trajectory data for chunk_019 in 15.35s (batch: 3.99s, save: 11.36s)	[pipeline.py: 300]
+05/12 17:27:35 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.48s:
+  episode_total: mean=181.31s, total=181.31s, count=1, min=181308.9ms, max=181308.9ms
+  sensor_polling: mean=423.0ms, total=126.89s, count=300, min=392.5ms, max=948.3ms
+  save_trajectories: mean=11.36s, total=11.36s, count=1, min=11360.4ms, max=11360.4ms
+  physics_step: mean=24.6ms, total=7.39s, count=300, min=18.6ms, max=59.7ms
+  save_batch_prep: mean=3.99s, total=3.99s, count=1, min=3992.3ms, max=3992.3ms
+  task_sampling: mean=479.7ms, total=479.7ms, count=1, min=479.7ms, max=479.7ms
+  task_specific_sample: mean=475.3ms, total=475.3ms, count=1, min=475.3ms, max=475.3ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=457.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=39.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 17:27:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 17:27:37 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 17:27:37 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 17:27:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:27:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:27:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:27:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:27:37 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 17:27:37 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 17:27:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 17:27:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.088m, effective arm-mount z=0.948m (base_body_z=0.088m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 17:27:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 17:27:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 17:27:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.088031m	[env.py: 870]
+05/12 17:27:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 17:27:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 17:27:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 17:27:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -52.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:27:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -45.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:27:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -74.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:27:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 68.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:27:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 82.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:27:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.94060721  0.26113612  0.08803147] yaw=193.3deg	[env.py: 1019]
+05/12 17:27:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 17:27:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.96135084  0.67224884  0.08803147] yaw=-169.6deg	[env.py: 1019]
+05/12 17:27:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 17:27:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 17:27:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=215.2ms, total=215.2ms	[env.py: 1075]
+05/12 17:27:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.941, 0.261, 0.088)	[env.py: 1079]
+05/12 17:27:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 193.3 deg	[env.py: 1082]
+05/12 17:27:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.793m	[env.py: 1086]
+05/12 17:27:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:27:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:27:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:27:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:27:37 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 17:27:37 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/12 17:27:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.117s	[base_object_manipulation_planner_policy.py: 377]
+05/12 17:27:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 17:27:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 17:27:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.082s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 17:27:38 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.853s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 17:27:38 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.474[m] 90.699[deg]	[grasp_sample.py: 539]
+05/12 17:27:39 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 17:27:40 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 17:27:40 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:27:40 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 17:27:42 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_019	[pipeline.py: 1174]
+05/12 17:27:42 INFO: [Worker 0] Batching and saving trajectory data for chunk_019 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/12 17:27:42 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 17:27:52 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:27:53 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 17:27:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 17:27:57 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_019	[save_utils.py: 785]
+05/12 17:27:57 INFO: [Worker 0] Successfully saved trajectory data for chunk_019 in 15.84s (batch: 4.50s, save: 11.34s)	[pipeline.py: 300]
+05/12 17:27:58 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.51s:
+  episode_total: mean=182.52s, total=182.52s, count=1, min=182521.9ms, max=182521.9ms
+  sensor_polling: mean=408.4ms, total=122.51s, count=300, min=391.9ms, max=723.2ms
+  save_trajectories: mean=11.34s, total=11.34s, count=1, min=11339.9ms, max=11339.9ms
+  physics_step: mean=24.0ms, total=7.20s, count=300, min=16.6ms, max=32.9ms
+  save_batch_prep: mean=4.50s, total=4.50s, count=1, min=4502.5ms, max=4502.5ms
+  task_sampling: mean=512.6ms, total=512.6ms, count=1, min=512.6ms, max=512.6ms
+  task_specific_sample: mean=508.7ms, total=508.7ms, count=1, min=508.7ms, max=508.7ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=460.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=25.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 17:28:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 17:28:00 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 17:28:00 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 17:28:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:28:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:28:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:28:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:28:00 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 17:28:00 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 17:28:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 17:28:00 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]
+05/12 17:28:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 17:28:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 17:28:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.074795m	[env.py: 870]
+05/12 17:28:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 17:28:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 17:28:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 17:28:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.62964197  0.60759407  0.07479483] yaw=-165.2deg	[env.py: 1019]
+05/12 17:28:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 17:28:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.93442746  0.31095594  0.07479483] yaw=170.8deg	[env.py: 1019]
+05/12 17:28:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 17:28:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 61.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:28:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.7904083   0.32708703  0.07479483] yaw=184.7deg	[env.py: 1019]
+05/12 17:28:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 17:28:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 17:28:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=106.1ms, total=106.1ms	[env.py: 1075]
+05/12 17:28:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.630, 0.608, 0.075)	[env.py: 1079]
+05/12 17:28:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -165.2 deg	[env.py: 1082]
+05/12 17:28:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.080m	[env.py: 1086]
+05/12 17:28:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:28:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:28:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:28:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:28:00 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 17:28:00 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/12 17:28:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s	[base_object_manipulation_planner_policy.py: 377]
+05/12 17:28:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 17:28:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 17:28:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 17:28:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 17:28:02 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.309s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 17:28:02 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.667[m] 97.084[deg]	[grasp_sample.py: 539]
+05/12 17:28:02 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 17:28:02 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 17:28:02 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:28:03 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 17:28:06 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:28:21 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_019	[pipeline.py: 1174]
+05/12 17:28:21 INFO: [Worker 0] Batching and saving trajectory data for chunk_019 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/12 17:28:21 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 17:28:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:28:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 17:28:36 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:28:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 17:28:36 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_019	[save_utils.py: 785]
+05/12 17:28:36 INFO: [Worker 0] Successfully saved trajectory data for chunk_019 in 15.13s (batch: 4.10s, save: 11.03s)	[pipeline.py: 300]
+05/12 17:28:37 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.97s:
+  episode_total: mean=189.47s, total=189.47s, count=1, min=189473.3ms, max=189473.3ms
+  sensor_polling: mean=442.2ms, total=132.67s, count=300, min=394.3ms, max=853.0ms
+  save_trajectories: mean=11.03s, total=11.03s, count=1, min=11027.6ms, max=11027.6ms
+  physics_step: mean=26.4ms, total=7.91s, count=300, min=16.9ms, max=39.6ms
+  save_batch_prep: mean=4.10s, total=4.10s, count=1, min=4099.4ms, max=4099.4ms
+  task_sampling: mean=967.5ms, total=967.5ms, count=1, min=967.5ms, max=967.5ms
+  task_specific_sample: mean=963.6ms, total=963.6ms, count=1, min=963.6ms, max=963.6ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=454.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=30.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 17:28:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 17:28:38 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 17:28:38 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 17:28:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:28:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:28:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:28:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:28:38 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 17:28:38 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 17:28:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 17:28:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.094m, effective arm-mount z=0.954m (base_body_z=0.094m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 17:28:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 17:28:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 17:28:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.093678m	[env.py: 870]
+05/12 17:28:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 17:28:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 17:28:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 17:28:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -35.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:28:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 104.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:28:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 119.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:28:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 89.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:28:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -63.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:28:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.74401762  0.26793347  0.09367849] yaw=129.8deg	[env.py: 1019]
+05/12 17:28:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 17:28:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.76546115  0.69292169  0.09367849] yaw=-198.7deg	[env.py: 1019]
+05/12 17:28:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 17:28:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 17:28:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=194.1ms, total=194.2ms	[env.py: 1075]
+05/12 17:28:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.744, 0.268, 0.094)	[env.py: 1079]
+05/12 17:28:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 129.8 deg	[env.py: 1082]
+05/12 17:28:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.982m	[env.py: 1086]
+05/12 17:28:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:28:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:28:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:28:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:28:39 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 17:28:39 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/12 17:28:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.111s	[base_object_manipulation_planner_policy.py: 377]
+05/12 17:28:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 17:28:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 17:28:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 17:28:40 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.078s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 17:28:40 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.707[m] 108.759[deg]	[grasp_sample.py: 539]
+05/12 17:28:40 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 17:28:41 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 17:28:41 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:28:41 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 17:29:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:29:02 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:29:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:29:12 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 17:29:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:29:16 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:29:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:29:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:29:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:29:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:29:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:29:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:29:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:29:28 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 17:29:28 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 17:29:28 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]
+05/12 17:29:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 17:29:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.081s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/12 17:29:28 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.666s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 17:29:28 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.305[deg]	[grasp_sample.py: 539]
+05/12 17:29:29 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 17:29:30 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 17:29:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 17:29:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:29:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:29:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:29:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:29:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:29:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:29:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:29:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:29:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:29:45 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 17:29:45 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 17:29:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 17:29:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 17:29:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/12 17:29:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:29:45 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.678s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 17:29:45 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.101[m] 0.293[deg]	[grasp_sample.py: 539]
+05/12 17:29:47 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 17:29:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:29:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 17:29:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:29:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:29:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:29:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:29:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:29:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:29:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:29:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:29:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:29:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:29:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:29:56 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 17:29:56 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 17:29:56 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]
+05/12 17:29:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 17:29:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 17:29:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:29:57 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_019	[pipeline.py: 1174]
+05/12 17:29:57 INFO: [Worker 0] Batching and saving trajectory data for chunk_019 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/12 17:29:57 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 17:29:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:30:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:30:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:30:02 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 17:30:02 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 17:30:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 17:30:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 17:30:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 74 non-colliding grasps	[grasp_sample.py: 465]
+05/12 17:30:02 INFO: [Worker 0] Feasibility-checked 74 grasps in 0.645s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 17:30:02 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.094[m] 0.326[deg]	[grasp_sample.py: 539]
+05/12 17:30:04 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 17:30:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 17:30:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:30:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:30:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:30:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:30:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:30:12 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 17:30:12 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_019	[save_utils.py: 785]
+05/12 17:30:12 INFO: [Worker 0] Successfully saved trajectory data for chunk_019 in 15.11s (batch: 3.91s, save: 11.20s)	[pipeline.py: 300]
+05/12 17:30:13 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=1.28s:
+  episode_total: mean=161.22s, total=322.43s, count=2, min=137777.7ms, max=184656.2ms
+  sensor_polling: mean=428.7ms, total=241.36s, count=563, min=385.9ms, max=922.7ms
+  physics_step: mean=24.6ms, total=13.86s, count=563, min=17.2ms, max=52.6ms
+  save_trajectories: mean=11.20s, total=11.20s, count=1, min=11198.1ms, max=11198.1ms
+  save_batch_prep: mean=3.91s, total=3.91s, count=1, min=3906.9ms, max=3906.9ms
+  task_sampling: mean=641.2ms, total=1.28s, count=2, min=523.3ms, max=759.1ms
+  task_specific_sample: mean=637.2ms, total=1.27s, count=2, min=519.2ms, max=755.2ms
+  scene_randomize: mean=2.2ms, total=4.4ms, count=2, min=1.9ms, max=2.5ms
+  mj_forward_sync: mean=540.8us, total=1.1ms, count=2, min=0.5ms, max=0.6ms
+  policy_setup: mean=24.6us, 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]
+05/12 17:30:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:30:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 17:30:14 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 17:30:14 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 17:30:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:30:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:30:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:30:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:30:14 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 17:30:14 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 17:30:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 17:30:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.071m, effective arm-mount z=0.931m (base_body_z=0.071m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 17:30:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 17:30:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 17:30:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.071258m	[env.py: 870]
+05/12 17:30:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 17:30:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 17:30:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 17:30:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.93237916  0.84940483  0.07125833] yaw=-128.5deg	[env.py: 1019]
+05/12 17:30:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 17:30:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 79.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:30:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.87119312  0.65093201  0.07125833] yaw=-169.9deg	[env.py: 1019]
+05/12 17:30:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 17:30:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.73979879  0.10456288  0.07125833] yaw=154.3deg	[env.py: 1019]
+05/12 17:30:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 17:30:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 17:30:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=138.8ms, total=138.8ms	[env.py: 1075]
+05/12 17:30:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.932, 0.849, 0.071)	[env.py: 1079]
+05/12 17:30:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -128.5 deg	[env.py: 1082]
+05/12 17:30:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.853m	[env.py: 1086]
+05/12 17:30:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:30:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:30:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:30:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:30:15 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 17:30:15 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/12 17:30:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.117s	[base_object_manipulation_planner_policy.py: 377]
+05/12 17:30:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 17:30:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 17:30:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 17:30:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:30:16 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.091s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 17:30:16 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.438[m] 85.162[deg]	[grasp_sample.py: 539]
+05/12 17:30:16 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 17:30:17 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 17:30:17 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:30:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:30:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:30:19 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 17:30:19 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/12 17:30:20 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/12 17:30:20 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=False episode_total=0.52s:
+  episode_total: mean=162.76s, total=162.76s, count=1, min=162757.4ms, max=162757.4ms
+  sensor_polling: mean=449.3ms, total=104.70s, count=233, min=402.9ms, max=906.7ms
+  physics_step: mean=24.3ms, total=5.66s, count=233, min=15.3ms, max=34.6ms
+  task_sampling: mean=520.7ms, total=520.7ms, count=1, min=520.7ms, max=520.7ms
+  task_specific_sample: mean=516.0ms, total=516.0ms, count=1, min=516.0ms, max=516.0ms
+  scene_randomize: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms
+  mj_forward_sync: mean=452.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=19.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 17:30:20 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 17:30:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 17:30:21 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 17:30:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 17:30:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:30:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:30:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:30:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:30:21 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 17:30:21 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]
+05/12 17:30:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 17:30:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.045m, effective arm-mount z=0.905m (base_body_z=0.045m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 17:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 17:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 17:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.044817m	[env.py: 870]
+05/12 17:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 17:30:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 17:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 17:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -34.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.73088367  0.22230052  0.04481666] yaw=184.1deg	[env.py: 1019]
+05/12 17:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 17:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.89686399  0.32051139  0.04481666] yaw=160.3deg	[env.py: 1019]
+05/12 17:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 17:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 85.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.03423252  1.30695941  0.04481666] yaw=-146.5deg	[env.py: 1019]
+05/12 17:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 17:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 17:30:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=118.9ms, total=118.9ms	[env.py: 1075]
+05/12 17:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.731, 0.222, 0.045)	[env.py: 1079]
+05/12 17:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 184.1 deg	[env.py: 1082]
+05/12 17:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.006m	[env.py: 1086]
+05/12 17:30:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:30:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:30:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:30:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:30:21 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 17:30:21 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/12 17:30:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s	[base_object_manipulation_planner_policy.py: 377]
+05/12 17:30:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 17:30:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 17:30:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.081s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 17:30:23 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.965s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 17:30:23 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.584[m] 85.084[deg]	[grasp_sample.py: 539]
+05/12 17:30:23 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 17:30:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 17:30:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:30:23 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 17:30:47 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_019	[pipeline.py: 1174]
+05/12 17:30:47 INFO: [Worker 0] Batching and saving trajectory data for chunk_019 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/12 17:30:47 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 17:30:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:31:02 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 17:31:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 17:31:03 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_019	[save_utils.py: 785]
+05/12 17:31:03 INFO: [Worker 0] Successfully saved trajectory data for chunk_019 in 15.89s (batch: 4.83s, save: 11.06s)	[pipeline.py: 300]
+05/12 17:31:04 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.41s:
+  episode_total: mean=184.37s, total=184.37s, count=1, min=184367.3ms, max=184367.3ms
+  sensor_polling: mean=420.1ms, total=126.04s, count=300, min=384.0ms, max=771.1ms
+  save_trajectories: mean=11.06s, total=11.06s, count=1, min=11058.4ms, max=11058.4ms
+  physics_step: mean=23.4ms, total=7.02s, count=300, min=16.6ms, max=36.4ms
+  save_batch_prep: mean=4.83s, total=4.83s, count=1, min=4827.8ms, max=4827.8ms
+  task_sampling: mean=412.5ms, total=412.5ms, count=1, min=412.5ms, max=412.5ms
+  task_specific_sample: mean=408.6ms, total=408.6ms, count=1, min=408.6ms, max=408.6ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=451.9us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=24.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 17:31:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 17:31:06 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 17:31:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 17:31:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:31:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:31:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:31:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:31:06 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 17:31:06 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]
+05/12 17:31:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 17:31:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.071m, effective arm-mount z=0.931m (base_body_z=0.071m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 17:31:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 17:31:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 17:31:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.071326m	[env.py: 870]
+05/12 17:31:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 17:31:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 17:31:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 17:31:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.97197341  0.67846004  0.07132598] yaw=-154.5deg	[env.py: 1019]
+05/12 17:31:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 17:31:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.84537475  0.37519935  0.07132598] yaw=157.4deg	[env.py: 1019]
+05/12 17:31:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 17:31:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 109.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:31:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -47.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:31:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -34.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:31:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.93027871  0.51581214  0.07132598] yaw=-216.1deg	[env.py: 1019]
+05/12 17:31:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 17:31:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 17:31:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=184.2ms, total=184.3ms	[env.py: 1075]
+05/12 17:31:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.972, 0.678, 0.071)	[env.py: 1079]
+05/12 17:31:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -154.5 deg	[env.py: 1082]
+05/12 17:31:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.756m	[env.py: 1086]
+05/12 17:31:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:31:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:31:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:31:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:31:06 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 17:31:06 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/12 17:31:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.121s	[base_object_manipulation_planner_policy.py: 377]
+05/12 17:31:06 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]
+05/12 17:31:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 17:31:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 17:31:06 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:31:07 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.883s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 17:31:07 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.313[m] 81.634[deg]	[grasp_sample.py: 539]
+05/12 17:31:07 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 17:31:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 17:31:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:31:15 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:31:24 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 17:31:27 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:31:33 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:31:41 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 17:31:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 105.621s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 17:31:42 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int'	[pipeline.py: 1242]
+05/12 17:31:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 17:31:44 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 17:31:44 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 17:31:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:31:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:31:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:31:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:31:44 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 17:31:44 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 17:31:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 17:31:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.057m, effective arm-mount z=0.917m (base_body_z=0.057m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 17:31:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 17:31:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 17:31:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.057186m	[env.py: 870]
+05/12 17:31:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 17:31:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 17:31:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 17:31:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.84742     0.40604024  0.05718627] yaw=155.1deg	[env.py: 1019]
+05/12 17:31:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 17:31:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -30.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:31:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 64.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:31:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 71.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:31:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 83.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:31:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 17:31:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=193.8ms, total=193.9ms	[env.py: 1075]
+05/12 17:31:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.847, 0.406, 0.057)	[env.py: 1079]
+05/12 17:31:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 155.1 deg	[env.py: 1082]
+05/12 17:31:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.858m	[env.py: 1086]
+05/12 17:31:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:31:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:31:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:31:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:31:44 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 17:31:44 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/12 17:31:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.090s	[base_object_manipulation_planner_policy.py: 377]
+05/12 17:31:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 17:31:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 17:31:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 17:31:45 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.786s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 17:31:45 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.454[m] 90.434[deg]	[grasp_sample.py: 539]
+05/12 17:31:45 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 17:31:45 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:31:45 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 17:31:45 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:31:46 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 17:32:26 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:32:31 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 17:32:35 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 17:32:39 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:32:46 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 17:32:58 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_019	[pipeline.py: 1174]
+05/12 17:32:58 INFO: [Worker 0] Batching and saving trajectory data for chunk_019 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/12 17:32:58 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 17:33:12 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 17:33:12 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_019	[save_utils.py: 785]
+05/12 17:33:12 INFO: [Worker 0] Successfully saved trajectory data for chunk_019 in 14.49s (batch: 3.89s, save: 10.60s)	[pipeline.py: 300]
+05/12 17:33:13 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.45s:
+  episode_total: mean=178.25s, total=178.25s, count=1, min=178251.6ms, max=178251.6ms
+  sensor_polling: mean=415.8ms, total=124.74s, count=300, min=390.2ms, max=984.2ms
+  save_trajectories: mean=10.60s, total=10.60s, count=1, min=10601.2ms, max=10601.2ms
+  physics_step: mean=23.9ms, total=7.17s, count=300, min=16.6ms, max=66.0ms
+  save_batch_prep: mean=3.89s, total=3.89s, count=1, min=3886.1ms, max=3886.1ms
+  task_sampling: mean=449.1ms, total=449.1ms, count=1, min=449.1ms, max=449.1ms
+  task_specific_sample: mean=445.3ms, total=445.3ms, count=1, min=445.3ms, max=445.3ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=464.5us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=21.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 17:33:14 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_019	[pipeline.py: 1174]
+05/12 17:33:14 INFO: [Worker 0] Batching and saving trajectory data for chunk_019 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/12 17:33:14 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 17:33:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 17:33:14 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 17:33:14 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 17:33:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:33:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:33:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:33:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:33:14 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 17:33:14 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 17:33:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 17:33:14 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]
+05/12 17:33:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 17:33:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 17:33:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.086214m	[env.py: 870]
+05/12 17:33:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 17:33:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 17:33:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 17:33:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 57.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:33:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 117.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:33:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.06072019  1.22908036  0.08621375] yaw=-90.6deg	[env.py: 1019]
+05/12 17:33:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 17:33:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -43.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:33:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.75889342  0.35992188  0.08621375] yaw=179.3deg	[env.py: 1019]
+05/12 17:33:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 17:33:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.94440135  1.01537915  0.08621375] yaw=-147.1deg	[env.py: 1019]
+05/12 17:33:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 17:33:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 17:33:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=131.9ms, total=131.9ms	[env.py: 1075]
+05/12 17:33:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.061, 1.229, 0.086)	[env.py: 1079]
+05/12 17:33:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -90.6 deg	[env.py: 1082]
+05/12 17:33:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.985m	[env.py: 1086]
+05/12 17:33:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:33:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:33:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:33:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:33:14 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 17:33:15 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 17:33:15 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/12 17:33:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.111s	[base_object_manipulation_planner_policy.py: 377]
+05/12 17:33:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 17:33:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 17:33:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 17:33:19 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.902s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 17:33:19 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.674[m] 105.719[deg]	[grasp_sample.py: 539]
+05/12 17:33:19 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 17:33:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 17:33:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:33:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 17:33:30 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_019	[save_utils.py: 785]
+05/12 17:33:30 INFO: [Worker 0] Successfully saved trajectory data for chunk_019 in 15.75s (batch: 4.57s, save: 11.19s)	[pipeline.py: 300]
+05/12 17:33:31 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.38s:
+  episode_total: mean=189.55s, total=189.55s, count=1, min=189551.8ms, max=189551.8ms
+  sensor_polling: mean=433.6ms, total=130.09s, count=300, min=395.3ms, max=881.2ms
+  save_trajectories: mean=11.19s, total=11.19s, count=1, min=11185.8ms, max=11185.8ms
+  physics_step: mean=26.3ms, total=7.88s, count=300, min=17.5ms, max=37.3ms
+  save_batch_prep: mean=4.57s, total=4.57s, count=1, min=4568.4ms, max=4568.4ms
+  task_sampling: mean=382.3ms, total=382.3ms, count=1, min=382.3ms, max=382.3ms
+  task_specific_sample: mean=378.9ms, total=378.9ms, count=1, min=378.9ms, max=378.9ms
+  scene_randomize: mean=1.3ms, total=1.3ms, count=1, min=1.3ms, max=1.3ms
+  mj_forward_sync: mean=443.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 17:33:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 17:33:32 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 17:33:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 17:33:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:33:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:33:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:33:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:33:32 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 17:33:32 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 17:33:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 17:33:32 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]
+05/12 17:33:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 17:33:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 17:33:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.023286m	[env.py: 870]
+05/12 17:33:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 17:33:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 17:33:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 17:33:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 114.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:33:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 121.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:33:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.11913723  1.04246477  0.02328623] yaw=-105.7deg	[env.py: 1019]
+05/12 17:33:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 17:33:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.77524371  0.95645242  0.02328623] yaw=-149.2deg	[env.py: 1019]
+05/12 17:33:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 17:33:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 93.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:33:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.04448742  0.84920533  0.02328623] yaw=-119.6deg	[env.py: 1019]
+05/12 17:33:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 17:33:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 17:33:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=183.3ms, total=183.4ms	[env.py: 1075]
+05/12 17:33:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.119, 1.042, 0.023)	[env.py: 1079]
+05/12 17:33:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -105.7 deg	[env.py: 1082]
+05/12 17:33:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.809m	[env.py: 1086]
+05/12 17:33:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:33:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:33:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:33:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:33:32 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 17:33:32 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/12 17:33:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.112s	[base_object_manipulation_planner_policy.py: 377]
+05/12 17:33:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 17:33:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 17:33:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 17:33:34 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.045s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 17:33:34 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.430[m] 94.505[deg]	[grasp_sample.py: 539]
+05/12 17:33:34 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 17:33:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 17:33:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:33:41 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_019	[pipeline.py: 1174]
+05/12 17:33:41 INFO: [Worker 0] Batching and saving trajectory data for chunk_019 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/12 17:33:41 INFO: [Worker 0] Preparing episode data: 284 timesteps	[save_utils.py: 278]
+05/12 17:33:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 17:33:56 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_019	[save_utils.py: 785]
+05/12 17:33:56 INFO: [Worker 0] Successfully saved trajectory data for chunk_019 in 14.57s (batch: 4.06s, save: 10.52s)	[pipeline.py: 300]
+05/12 17:33:56 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.49s:
+  episode_total: mean=170.73s, total=170.73s, count=1, min=170728.7ms, max=170728.7ms
+  sensor_polling: mean=411.5ms, total=116.47s, count=283, min=386.2ms, max=739.4ms
+  save_trajectories: mean=10.52s, total=10.52s, count=1, min=10515.3ms, max=10515.3ms
+  physics_step: mean=23.6ms, total=6.69s, count=283, min=16.7ms, max=33.1ms
+  save_batch_prep: mean=4.06s, total=4.06s, count=1, min=4055.4ms, max=4055.4ms
+  task_sampling: mean=492.0ms, total=492.0ms, count=1, min=492.0ms, max=492.0ms
+  task_specific_sample: mean=488.0ms, total=488.0ms, count=1, min=488.0ms, max=488.0ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=456.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=25.1us, 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]
+05/12 17:33:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 17:33:58 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 17:33:58 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 17:33:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:33:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:33:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:33:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:33:58 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 17:33:58 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]
+05/12 17:33:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 17:33:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.068m, effective arm-mount z=0.928m (base_body_z=0.068m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 17:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 17:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 17:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.067516m	[env.py: 870]
+05/12 17:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 17:33:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 17:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 17:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.71528085  0.63842685  0.06751571] yaw=-133.2deg	[env.py: 1019]
+05/12 17:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 17:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 112.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -31.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.8839228   1.130556    0.06751571] yaw=-118.1deg	[env.py: 1019]
+05/12 17:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 17:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.1811813   1.11216774  0.06751571] yaw=-102.5deg	[env.py: 1019]
+05/12 17:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 17:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 17:33:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=120.0ms, total=120.1ms	[env.py: 1075]
+05/12 17:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.715, 0.638, 0.068)	[env.py: 1079]
+05/12 17:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -133.2 deg	[env.py: 1082]
+05/12 17:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.999m	[env.py: 1086]
+05/12 17:33:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:33:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:33:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:33:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:33:58 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 17:33:58 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/12 17:33:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.108s	[base_object_manipulation_planner_policy.py: 377]
+05/12 17:33:58 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]
+05/12 17:33:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 17:33:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 17:34:00 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.228s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 17:34:00 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.635[m] 84.695[deg]	[grasp_sample.py: 539]
+05/12 17:34:00 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 17:34:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 17:34:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:34:01 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 17:34:08 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 17:34:13 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:34:21 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 17:34:25 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:34:26 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:34:33 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 17:34:35 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_019	[pipeline.py: 1174]
+05/12 17:34:35 INFO: [Worker 0] Batching and saving trajectory data for chunk_019 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/12 17:34:35 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 17:34:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:34:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:34:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:34:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 17:34:50 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_019	[save_utils.py: 785]
+05/12 17:34:50 INFO: [Worker 0] Successfully saved trajectory data for chunk_019 in 15.27s (batch: 3.96s, save: 11.31s)	[pipeline.py: 300]
+05/12 17:34:51 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=1.02s:
+  episode_total: mean=185.65s, total=371.31s, count=2, min=183725.0ms, max=187580.3ms
+  sensor_polling: mean=434.6ms, total=192.54s, count=443, min=392.0ms, max=865.7ms
+  physics_step: mean=25.9ms, total=11.49s, count=443, min=21.4ms, max=37.1ms
+  save_trajectories: mean=11.31s, total=11.31s, count=1, min=11308.8ms, max=11308.8ms
+  save_batch_prep: mean=3.96s, total=3.96s, count=1, min=3956.2ms, max=3956.2ms
+  task_sampling: mean=510.3ms, total=1.02s, count=2, min=490.9ms, max=529.6ms
+  task_specific_sample: mean=505.1ms, total=1.01s, count=2, min=484.9ms, max=525.4ms
+  scene_randomize: mean=3.3ms, total=6.5ms, count=2, min=2.8ms, max=3.7ms
+  mj_forward_sync: mean=460.9us, total=0.9ms, count=2, min=0.5ms, max=0.5ms
+  policy_setup: mean=18.6us, 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]
+05/12 17:34:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:34:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 17:34:53 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 17:34:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 17:34:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:34:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:34:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:34:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:34:53 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 17:34:53 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 17:34:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 17:34:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.086m, effective arm-mount z=0.946m (base_body_z=0.086m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 17:34:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 17:34:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 17:34:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.085767m	[env.py: 870]
+05/12 17:34:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 17:34:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 17:34:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 17:34:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 115.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:34:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 84.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:34:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 112.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:34:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -69.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:34:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.93346289  1.19238703  0.08576728] yaw=-161.2deg	[env.py: 1019]
+05/12 17:34:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 17:34:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.85100091  0.05249376  0.08576728] yaw=150.6deg	[env.py: 1019]
+05/12 17:34:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 17:34:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.89930675  0.44762184  0.08576728] yaw=149.9deg	[env.py: 1019]
+05/12 17:34:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 17:34:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 17:34:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=330.1ms, total=330.2ms	[env.py: 1075]
+05/12 17:34:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.933, 1.192, 0.086)	[env.py: 1079]
+05/12 17:34:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -161.2 deg	[env.py: 1082]
+05/12 17:34:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.047m	[env.py: 1086]
+05/12 17:34:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:34:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:34:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:34:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:34:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:34:53 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 17:34:53 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/12 17:34:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.111s	[base_object_manipulation_planner_policy.py: 377]
+05/12 17:34:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 17:34:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 17:34:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.086s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 17:34:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:34:56 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.507s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 17:34:56 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.650[m] 89.588[deg]	[grasp_sample.py: 539]
+05/12 17:34:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:34:57 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/12 17:34:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:34:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 17:34:59 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 17:34:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 17:34:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:34:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:34:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:34:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:34:59 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 17:34:59 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 17:34:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 17:34:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.059m, effective arm-mount z=0.919m (base_body_z=0.059m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 17:34:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 17:34:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 17:34:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.058656m	[env.py: 870]
+05/12 17:34:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 17:34:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 17:34:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 17:34:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 55.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:34:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -73.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:34:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -62.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:34:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 166.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:34:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 63.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:34:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.7601352   0.05669314  0.05865559] yaw=157.2deg	[env.py: 1019]
+05/12 17:34:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 17:34:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.03872842  1.07045633  0.05865559] yaw=-151.9deg	[env.py: 1019]
+05/12 17:34:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 17:34:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 17:34:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=211.7ms, total=211.7ms	[env.py: 1075]
+05/12 17:34:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.760, 0.057, 0.059)	[env.py: 1079]
+05/12 17:34:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 157.2 deg	[env.py: 1082]
+05/12 17:34:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.034m	[env.py: 1086]
+05/12 17:34:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:34:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:34:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:34:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:34:59 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 17:34:59 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/12 17:34:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
+05/12 17:34:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 17:34:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 17:34:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.087s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 17:34:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:34:59 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 17:34:59 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 17:34:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 17:34:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 17:34:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 17:35:02 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.608s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 17:35:02 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.579[m] 90.919[deg]	[grasp_sample.py: 539]
+05/12 17:35:02 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 17:35:02 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 17:35:02 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:35:03 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 17:35:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:35:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:35:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:35:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:35:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:35:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:35:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:35:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:35:27 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 17:35:27 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 17:35:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 17:35:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 17:35:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 17:35:30 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.769s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 17:35:30 INFO: [Worker 0] Feasible grasp found 213 (originally 98): w/ 0.252[m] 11.671[deg]	[grasp_sample.py: 539]
+05/12 17:35:30 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 17:35:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 17:35:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:35:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:35:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:35:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:35:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:35:50 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/12 17:35:50 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=False episode_total=0.45s:
+  episode_total: mean=155.57s, total=155.57s, count=1, min=155574.3ms, max=155574.3ms
+  sensor_polling: mean=423.7ms, total=127.10s, count=300, min=382.7ms, max=977.4ms
+  physics_step: mean=24.4ms, total=7.33s, count=300, min=17.3ms, max=85.1ms
+  task_sampling: mean=454.9ms, total=454.9ms, count=1, min=454.9ms, max=454.9ms
+  task_specific_sample: mean=450.9ms, total=450.9ms, count=1, min=450.9ms, max=450.9ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=466.9us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=28.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 17:35:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:35:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 17:35:51 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 17:35:51 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 17:35:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:35:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:35:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:35:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:35:51 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 17:35:51 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 17:35:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 17:35:51 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]
+05/12 17:35:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 17:35:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 17:35:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.022522m	[env.py: 870]
+05/12 17:35:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 17:35:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 17:35:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 17:35:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 108.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:35:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -52.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:35:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 62.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:35:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 71.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:35:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 115.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:35:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.88344374  0.35212151  0.02252153] yaw=134.8deg	[env.py: 1019]
+05/12 17:35:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 17:35:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.81265674  0.07799013  0.02252153] yaw=119.8deg	[env.py: 1019]
+05/12 17:35:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 17:35:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 17:35:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=258.5ms, total=258.6ms	[env.py: 1075]
+05/12 17:35:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.883, 0.352, 0.023)	[env.py: 1079]
+05/12 17:35:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 134.8 deg	[env.py: 1082]
+05/12 17:35:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.829m	[env.py: 1086]
+05/12 17:35:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:35:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:35:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:35:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:35:52 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 17:35:52 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/12 17:35:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:35:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.095s	[base_object_manipulation_planner_policy.py: 377]
+05/12 17:35:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 17:35:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 17:35:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 17:35:53 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.826s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 17:35:53 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.510[m] 102.845[deg]	[grasp_sample.py: 539]
+05/12 17:35:53 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 17:35:53 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 17:35:53 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:35:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:35:54 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 17:35:55 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:35:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:35:55 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 17:35:55 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 17:35:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 17:35:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 17:35:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.096s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/12 17:35:58 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.882s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 17:35:58 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 1.921[deg]	[grasp_sample.py: 539]
+05/12 17:36:00 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/12 17:36:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 17:36:01 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 17:36:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 17:36:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:36:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:36:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:36:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:36:01 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 17:36:01 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 17:36:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 17:36:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.074m, effective arm-mount z=0.934m (base_body_z=0.074m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 17:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 17:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 17:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.073634m	[env.py: 870]
+05/12 17:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 17:36:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 17:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 17:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.91607302  1.17285157  0.07363357] yaw=-106.6deg	[env.py: 1019]
+05/12 17:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 17:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 56.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 81.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -34.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 107.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.95485534  1.09602087  0.07363357] yaw=-164.0deg	[env.py: 1019]
+05/12 17:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 17:36:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.61848704  0.66470507  0.07363357] yaw=-134.2deg	[env.py: 1019]
+05/12 17:36:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 17:36:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 17:36:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=432.3ms, total=432.4ms	[env.py: 1075]
+05/12 17:36:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.916, 1.173, 0.074)	[env.py: 1079]
+05/12 17:36:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -106.6 deg	[env.py: 1082]
+05/12 17:36:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.047m	[env.py: 1086]
+05/12 17:36:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:36:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:36:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:36:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:36:02 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 17:36:02 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/12 17:36:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s	[base_object_manipulation_planner_policy.py: 377]
+05/12 17:36:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 17:36:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 17:36:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.088s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 17:36:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 17:36:08 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:36:08 INFO: [Worker 0] Feasibility-checked 88 grasps in 6.446s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 17:36:08 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.731[m] 100.759[deg]	[grasp_sample.py: 539]
+05/12 17:36:08 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 17:36:09 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 17:36:09 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:36:10 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 17:36:38 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:36:39 INFO: [Worker 0] Feasibility-checked 88 grasps in 99.673s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 17:36:39 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int'	[pipeline.py: 1242]
+05/12 17:36:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 17:36:40 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 17:36:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 17:36:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:36:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:36:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:36:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:36:40 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 17:36:40 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 17:36:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 17:36:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.060m, effective arm-mount z=0.920m (base_body_z=0.060m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 17:36:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 17:36:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 17:36:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.059618m	[env.py: 870]
+05/12 17:36:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 17:36:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 17:36:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 17:36:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -67.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:36:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.04300484  1.09080571  0.05961766] yaw=-100.3deg	[env.py: 1019]
+05/12 17:36:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 17:36:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.67490768  0.83944199  0.05961766] yaw=-135.1deg	[env.py: 1019]
+05/12 17:36:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 17:36:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -29.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:36:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -29.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:36:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.0371076   1.04761304  0.05961766] yaw=-170.4deg	[env.py: 1019]
+05/12 17:36:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 17:36:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 17:36:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=484.4ms, total=484.4ms	[env.py: 1075]
+05/12 17:36:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.043, 1.091, 0.060)	[env.py: 1079]
+05/12 17:36:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -100.3 deg	[env.py: 1082]
+05/12 17:36:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.897m	[env.py: 1086]
+05/12 17:36:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:36:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:36:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:36:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:36:41 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 17:36:41 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/12 17:36:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.094s	[base_object_manipulation_planner_policy.py: 377]
+05/12 17:36:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 17:36:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 17:36:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 17:36:44 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.410s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 17:36:44 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.627[m] 101.232[deg]	[grasp_sample.py: 539]
+05/12 17:36:45 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/12 17:36:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 17:36:46 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 17:36:46 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 17:36:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:36:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:36:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:36:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:36:46 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 17:36:46 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 17:36:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 17:36:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.013m, effective arm-mount z=0.873m (base_body_z=0.013m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 17:36:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 17:36:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 17:36:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.013074m	[env.py: 870]
+05/12 17:36:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 17:36:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 17:36:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 17:36:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 124.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:36:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.90320775  1.03644495  0.01307392] yaw=-168.7deg	[env.py: 1019]
+05/12 17:36:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 17:36:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.91505506  0.56019447  0.01307392] yaw=-136.4deg	[env.py: 1019]
+05/12 17:36:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 17:36:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.85773687  0.85592384  0.01307392] yaw=-130.8deg	[env.py: 1019]
+05/12 17:36:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 17:36:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 17:36:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=95.4ms, total=95.5ms	[env.py: 1075]
+05/12 17:36:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.903, 1.036, 0.013)	[env.py: 1079]
+05/12 17:36:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -168.7 deg	[env.py: 1082]
+05/12 17:36:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.973m	[env.py: 1086]
+05/12 17:36:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:36:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:36:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:36:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:36:47 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 17:36:47 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/12 17:36:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s	[base_object_manipulation_planner_policy.py: 377]
+05/12 17:36:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 17:36:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 17:36:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.066s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 17:36:47 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 17:36:50 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.682s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 17:36:50 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.613[m] 92.638[deg]	[grasp_sample.py: 539]
+05/12 17:36:51 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/12 17:36:51 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:36:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 17:36:52 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 17:36:52 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 17:36:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:36:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:36:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:36:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:36:52 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 17:36:52 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 17:36:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 17:36:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.085m, effective arm-mount z=0.945m (base_body_z=0.085m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 17:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 17:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 17:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.085420m	[env.py: 870]
+05/12 17:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 17:36:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 17:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 17:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 157.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.74698692  0.63531272  0.08542048] yaw=-204.3deg	[env.py: 1019]
+05/12 17:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 17:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -70.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.71786184  0.10336898  0.08542048] yaw=121.4deg	[env.py: 1019]
+05/12 17:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 17:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.94180069  0.61589529  0.08542048] yaw=-180.6deg	[env.py: 1019]
+05/12 17:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 17:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 17:36:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=107.1ms, total=107.2ms	[env.py: 1075]
+05/12 17:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.747, 0.635, 0.085)	[env.py: 1079]
+05/12 17:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -204.3 deg	[env.py: 1082]
+05/12 17:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.968m	[env.py: 1086]
+05/12 17:36:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:36:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:36:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:36:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:36:53 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 17:36:53 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/12 17:36:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s	[base_object_manipulation_planner_policy.py: 377]
+05/12 17:36:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 17:36:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 17:36:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 17:36:54 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.045s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 17:36:54 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.620[m] 83.295[deg]	[grasp_sample.py: 539]
+05/12 17:36:54 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 17:36:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 17:36:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:37:23 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 17:37:26 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:37:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 17:37:38 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:37:44 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:37:51 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_019	[pipeline.py: 1174]
+05/12 17:37:51 INFO: [Worker 0] Batching and saving trajectory data for chunk_019 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/12 17:37:51 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 17:37:53 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 17:37:56 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:38:07 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 17:38:07 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_019	[save_utils.py: 785]
+05/12 17:38:07 INFO: [Worker 0] Successfully saved trajectory data for chunk_019 in 16.55s (batch: 5.49s, save: 11.07s)	[pipeline.py: 300]
+05/12 17:38:08 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=1.13s:
+  episode_total: mean=97.15s, total=194.31s, count=2, min=4603.7ms, max=189702.6ms
+  sensor_polling: mean=433.9ms, total=130.17s, count=300, min=403.1ms, max=876.7ms
+  save_trajectories: mean=11.07s, total=11.07s, count=1, min=11067.0ms, max=11067.0ms
+  physics_step: mean=25.5ms, total=7.64s, count=300, min=18.0ms, max=35.5ms
+  save_batch_prep: mean=5.49s, total=5.49s, count=1, min=5486.4ms, max=5486.4ms
+  task_sampling: mean=565.5ms, total=1.13s, count=2, min=487.2ms, max=643.7ms
+  task_specific_sample: mean=561.4ms, total=1.12s, count=2, min=483.2ms, max=639.7ms
+  scene_randomize: mean=2.2ms, total=4.5ms, count=2, min=2.0ms, max=2.5ms
+  mj_forward_sync: mean=461.8us, total=0.9ms, count=2, min=0.5ms, max=0.5ms
+  policy_setup: mean=19.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 17:38:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 17:38:10 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 17:38:10 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 17:38:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:38:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:38:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:38:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:38:10 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 17:38:10 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]
+05/12 17:38:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 17:38:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.022m, effective arm-mount z=0.882m (base_body_z=0.022m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 17:38:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 17:38:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 17:38:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.022462m	[env.py: 870]
+05/12 17:38:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 17:38:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 17:38:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 17:38:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -169.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:38:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -59.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:38:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -175.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:38:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.61743367  0.40686461  0.02246219] yaw=214.2deg	[env.py: 1019]
+05/12 17:38:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 17:38:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.0894746   0.95128369  0.02246219] yaw=-181.1deg	[env.py: 1019]
+05/12 17:38:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 17:38:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.66613104  0.7537802   0.02246219] yaw=-142.4deg	[env.py: 1019]
+05/12 17:38:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 17:38:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 17:38:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=328.6ms, total=328.6ms	[env.py: 1075]
+05/12 17:38:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.617, 0.407, 0.022)	[env.py: 1079]
+05/12 17:38:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 214.2 deg	[env.py: 1082]
+05/12 17:38:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.088m	[env.py: 1086]
+05/12 17:38:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:38:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:38:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:38:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:38:10 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 17:38:10 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/12 17:38:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.115s	[base_object_manipulation_planner_policy.py: 377]
+05/12 17:38:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 17:38:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 17:38:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 17:38:16 INFO: [Worker 0] Feasibility-checked 88 grasps in 5.029s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 17:38:16 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.799[m] 90.914[deg]	[grasp_sample.py: 539]
+05/12 17:38:16 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 17:38:16 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 17:38:16 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:38:17 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 17:38:20 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 17:38:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:38:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:38:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:38:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:38:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:38:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:38:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:38:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:38:36 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 17:38:36 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 17:38:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 17:38:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 17:38:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 68 non-colliding grasps	[grasp_sample.py: 465]
+05/12 17:38:39 INFO: [Worker 0] Feasibility-checked 68 grasps in 2.423s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 17:38:39 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.088[m] 1.862[deg]	[grasp_sample.py: 539]
+05/12 17:38:39 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 17:38:40 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 17:38:40 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:38:45 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 17:38:49 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_019	[pipeline.py: 1174]
+05/12 17:38:49 INFO: [Worker 0] Batching and saving trajectory data for chunk_019 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/12 17:38:49 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 17:39:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 17:39:04 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_019	[save_utils.py: 785]
+05/12 17:39:04 INFO: [Worker 0] Successfully saved trajectory data for chunk_019 in 15.06s (batch: 4.19s, save: 10.86s)	[pipeline.py: 300]
+05/12 17:39:04 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 17:39:05 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.52s:
+  episode_total: mean=193.26s, total=193.26s, count=1, min=193259.7ms, max=193259.7ms
+  sensor_polling: mean=421.3ms, total=126.38s, count=300, min=389.9ms, max=1001.5ms
+  save_trajectories: mean=10.86s, total=10.86s, count=1, min=10862.6ms, max=10862.6ms
+  physics_step: mean=24.5ms, total=7.35s, count=300, min=21.1ms, max=93.3ms
+  save_batch_prep: mean=4.19s, total=4.19s, count=1, min=4194.3ms, max=4194.3ms
+  task_sampling: mean=521.0ms, total=521.0ms, count=1, min=521.0ms, max=521.0ms
+  task_specific_sample: mean=517.3ms, total=517.3ms, count=1, min=517.3ms, max=517.3ms
+  scene_randomize: mean=1.5ms, total=1.5ms, count=1, min=1.5ms, max=1.5ms
+  mj_forward_sync: mean=454.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=13.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 17:39:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 17:39:06 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 17:39:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 17:39:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:39:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:39:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:39:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:39:06 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 17:39:06 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]
+05/12 17:39:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 17:39:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.047m, effective arm-mount z=0.907m (base_body_z=0.047m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 17:39:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 17:39:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 17:39:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.046520m	[env.py: 870]
+05/12 17:39:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 17:39:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 17:39:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 17:39:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.13874236  1.14206057  0.04652023] yaw=-112.0deg	[env.py: 1019]
+05/12 17:39:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 17:39:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.73410787  0.25884561  0.04652023] yaw=190.6deg	[env.py: 1019]
+05/12 17:39:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 17:39:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.96389894  0.94887189  0.04652023] yaw=-172.5deg	[env.py: 1019]
+05/12 17:39:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 17:39:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 17:39:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=103.4ms, total=103.5ms	[env.py: 1075]
+05/12 17:39:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.139, 1.142, 0.047)	[env.py: 1079]
+05/12 17:39:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -112.0 deg	[env.py: 1082]
+05/12 17:39:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.868m	[env.py: 1086]
+05/12 17:39:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:39:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:39:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:39:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:39:06 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 17:39:06 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/12 17:39:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.142s	[base_object_manipulation_planner_policy.py: 377]
+05/12 17:39:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 17:39:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 17:39:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.095s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 17:39:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.683s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 17:39:09 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.495[m] 91.840[deg]	[grasp_sample.py: 539]
+05/12 17:39:09 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 17:39:10 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 17:39:10 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:39:13 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_019	[pipeline.py: 1174]
+05/12 17:39:13 INFO: [Worker 0] Batching and saving trajectory data for chunk_019 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/12 17:39:13 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 17:39:28 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:39:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 17:39:29 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_019	[save_utils.py: 785]
+05/12 17:39:29 INFO: [Worker 0] Successfully saved trajectory data for chunk_019 in 15.40s (batch: 4.33s, save: 11.07s)	[pipeline.py: 300]
+05/12 17:39:29 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=1.21s:
+  episode_total: mean=177.88s, total=355.75s, count=2, min=147689.6ms, max=208061.2ms
+  sensor_polling: mean=431.7ms, total=254.70s, count=590, min=380.5ms, max=909.3ms
+  physics_step: mean=25.2ms, total=14.84s, count=590, min=16.9ms, max=37.5ms
+  save_trajectories: mean=11.07s, total=11.07s, count=1, min=11065.6ms, max=11065.6ms
+  save_batch_prep: mean=4.33s, total=4.33s, count=1, min=4330.2ms, max=4330.2ms
+  task_sampling: mean=604.3ms, total=1.21s, count=2, min=501.9ms, max=706.6ms
+  task_specific_sample: mean=600.2ms, total=1.20s, count=2, min=497.7ms, max=702.6ms
+  scene_randomize: mean=2.4ms, total=4.7ms, count=2, min=1.9ms, max=2.8ms
+  mj_forward_sync: mean=452.6us, total=0.9ms, count=2, min=0.5ms, max=0.5ms
+  policy_setup: mean=20.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 17:39:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 17:39:30 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 17:39:30 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 17:39:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:39:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:39:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:39:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:39:30 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 17:39:30 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 17:39:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 17:39:30 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]
+05/12 17:39:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 17:39:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 17:39:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.037847m	[env.py: 870]
+05/12 17:39:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 17:39:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 17:39:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 17:39:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 110.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:39:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.98966052  0.80975967  0.03784716] yaw=-116.7deg	[env.py: 1019]
+05/12 17:39:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 17:39:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.73712447  0.40597402  0.03784716] yaw=139.5deg	[env.py: 1019]
+05/12 17:39:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 17:39:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 85.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:39:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.79315194  0.06295503  0.03784716] yaw=162.1deg	[env.py: 1019]
+05/12 17:39:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 17:39:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 17:39:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=316.8ms, total=316.8ms	[env.py: 1075]
+05/12 17:39:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.990, 0.810, 0.038)	[env.py: 1079]
+05/12 17:39:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -116.7 deg	[env.py: 1082]
+05/12 17:39:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.784m	[env.py: 1086]
+05/12 17:39:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:39:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:39:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:39:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:39:31 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 17:39:31 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/12 17:39:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.141s	[base_object_manipulation_planner_policy.py: 377]
+05/12 17:39:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 17:39:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 17:39:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.090s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 17:39:32 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_019	[pipeline.py: 1174]
+05/12 17:39:32 INFO: [Worker 0] Batching and saving trajectory data for chunk_019 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/12 17:39:32 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 17:39:33 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.424s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 17:39:33 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.520[m] 91.473[deg]	[grasp_sample.py: 539]
+05/12 17:39:33 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 17:39:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 17:39:33 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:39:37 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 17:39:42 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:39:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 17:39:47 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_019	[save_utils.py: 785]
+05/12 17:39:47 INFO: [Worker 0] Successfully saved trajectory data for chunk_019 in 15.24s (batch: 3.91s, save: 11.33s)	[pipeline.py: 300]
+05/12 17:39:48 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=1.91s:
+  episode_total: mean=86.53s, total=346.12s, count=4, min=4482.5ms, max=175902.9ms
+  sensor_polling: mean=402.8ms, total=165.57s, count=411, min=378.7ms, max=854.4ms
+  save_trajectories: mean=11.33s, total=11.33s, count=1, min=11330.4ms, max=11330.4ms
+  physics_step: mean=23.5ms, total=9.66s, count=411, min=16.6ms, max=37.1ms
+  save_batch_prep: mean=3.91s, total=3.91s, count=1, min=3907.4ms, max=3907.4ms
+  task_sampling: mean=477.1ms, total=1.91s, count=4, min=350.2ms, max=757.5ms
+  task_specific_sample: mean=473.6ms, total=1.89s, count=4, min=346.9ms, max=753.5ms
+  scene_randomize: mean=1.6ms, total=6.5ms, count=4, min=1.1ms, max=2.5ms
+  mj_forward_sync: mean=452.8us, total=1.8ms, count=4, min=0.4ms, max=0.5ms
+  policy_setup: mean=16.4us, total=0.1ms, count=4, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 17:39:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 17:39:50 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 17:39:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 17:39:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:39:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:39:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:39:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:39:50 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 17:39:50 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 17:39:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 17:39:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.034m, effective arm-mount z=0.894m (base_body_z=0.034m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 17:39:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 17:39:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 17:39:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.033930m	[env.py: 870]
+05/12 17:39:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 17:39:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 17:39:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 17:39:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 91.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:39:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -53.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:39:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.70995314  0.75664131  0.03393031] yaw=-124.7deg	[env.py: 1019]
+05/12 17:39:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 17:39:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 165.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:39:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.99620082  0.12093448  0.03393031] yaw=175.7deg	[env.py: 1019]
+05/12 17:39:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 17:39:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.03245628  0.88078128  0.03393031] yaw=-182.0deg	[env.py: 1019]
+05/12 17:39:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 17:39:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 17:39:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=224.9ms, total=224.9ms	[env.py: 1075]
+05/12 17:39:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.710, 0.757, 0.034)	[env.py: 1079]
+05/12 17:39:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -124.7 deg	[env.py: 1082]
+05/12 17:39:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.030m	[env.py: 1086]
+05/12 17:39:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:39:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:39:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:39:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:39:50 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 17:39:50 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/12 17:39:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.110s	[base_object_manipulation_planner_policy.py: 377]
+05/12 17:39:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 17:39:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 17:39:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 17:39:53 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.684s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 17:39:53 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.714[m] 94.656[deg]	[grasp_sample.py: 539]
+05/12 17:39:53 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 17:39:53 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 17:39:53 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:39:54 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 17:39:57 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:40:07 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 17:40:12 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:40:20 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:40:30 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 17:40:34 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 17:40:34 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:40:56 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:41:02 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_019	[pipeline.py: 1174]
+05/12 17:41:02 INFO: [Worker 0] Batching and saving trajectory data for chunk_019 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/12 17:41:02 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 17:41:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 17:41:08 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:41:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:41:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:41:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 17:41:17 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_019	[save_utils.py: 785]
+05/12 17:41:17 INFO: [Worker 0] Successfully saved trajectory data for chunk_019 in 15.47s (batch: 4.51s, save: 10.96s)	[pipeline.py: 300]
+05/12 17:41:18 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.65s:
+  episode_total: mean=188.16s, total=188.16s, count=1, min=188164.6ms, max=188164.6ms
+  sensor_polling: mean=426.2ms, total=127.85s, count=300, min=393.8ms, max=872.3ms
+  save_trajectories: mean=10.96s, total=10.96s, count=1, min=10961.3ms, max=10961.3ms
+  physics_step: mean=24.1ms, total=7.24s, count=300, min=21.4ms, max=34.2ms
+  save_batch_prep: mean=4.51s, total=4.51s, count=1, min=4507.5ms, max=4507.5ms
+  task_sampling: mean=648.3ms, total=648.3ms, count=1, min=648.3ms, max=648.3ms
+  task_specific_sample: mean=644.1ms, total=644.1ms, count=1, min=644.1ms, max=644.1ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=462.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=17.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 17:41:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:41:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 17:41:19 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 17:41:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 17:41:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:41:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:41:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:41:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:41:19 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 17:41:19 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 17:41:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 17:41:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.088m, effective arm-mount z=0.948m (base_body_z=0.088m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 17:41:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 17:41:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 17:41:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.087824m	[env.py: 870]
+05/12 17:41:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 17:41:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 17:41:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 17:41:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.68558239  0.79273316  0.08782378] yaw=-161.3deg	[env.py: 1019]
+05/12 17:41:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 17:41:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.68276332  0.77461339  0.08782378] yaw=-129.5deg	[env.py: 1019]
+05/12 17:41:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 17:41:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 59.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:41:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.85489774  1.04312927  0.08782378] yaw=-121.9deg	[env.py: 1019]
+05/12 17:41:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 17:41:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 17:41:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=101.6ms, total=101.6ms	[env.py: 1075]
+05/12 17:41:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.686, 0.793, 0.088)	[env.py: 1079]
+05/12 17:41:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -161.3 deg	[env.py: 1082]
+05/12 17:41:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.063m	[env.py: 1086]
+05/12 17:41:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:41:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:41:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:41:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:41:20 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 17:41:20 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/12 17:41:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.118s	[base_object_manipulation_planner_policy.py: 377]
+05/12 17:41:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 17:41:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 17:41:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.082s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 17:41:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:41:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:41:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.404s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 17:41:22 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.636[m] 88.375[deg]	[grasp_sample.py: 539]
+05/12 17:41:22 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 17:41:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 17:41:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:41:23 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 17:41:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:41:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:41:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:41:28 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 17:41:28 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 17:41:28 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]
+05/12 17:41:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 17:41:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 86 non-colliding grasps	[grasp_sample.py: 465]
+05/12 17:41:31 INFO: [Worker 0] Feasibility-checked 86 grasps in 2.505s, found feasible grasp: False	[grasp_sample.py: 500]
+05/12 17:41:31 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/12 17:41:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 17:41:32 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 17:41:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 17:41:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:41:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:41:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:41:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:41:32 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 17:41:32 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 17:41:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 17:41:32 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]
+05/12 17:41:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 17:41:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 17:41:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.038389m	[env.py: 870]
+05/12 17:41:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 17:41:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 17:41:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 17:41:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.01188519  1.11605508  0.03838866] yaw=-174.8deg	[env.py: 1019]
+05/12 17:41:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 17:41:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 93.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:41:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.64684479  0.22526842  0.03838866] yaw=164.4deg	[env.py: 1019]
+05/12 17:41:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 17:41:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.01922938  0.85608269  0.03838866] yaw=-146.2deg	[env.py: 1019]
+05/12 17:41:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 17:41:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 17:41:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=144.5ms, total=144.6ms	[env.py: 1075]
+05/12 17:41:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.012, 1.116, 0.038)	[env.py: 1079]
+05/12 17:41:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -174.8 deg	[env.py: 1082]
+05/12 17:41:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.937m	[env.py: 1086]
+05/12 17:41:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:41:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:41:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:41:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:41:33 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 17:41:33 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/12 17:41:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.061s	[base_object_manipulation_planner_policy.py: 377]
+05/12 17:41:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 17:41:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 17:41:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 17:41:35 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.493s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 17:41:35 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.665[m] 94.158[deg]	[grasp_sample.py: 539]
+05/12 17:41:35 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 17:41:36 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 17:41:36 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:41:56 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 17:42:02 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 17:42:21 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:42:22 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_019	[pipeline.py: 1174]
+05/12 17:42:22 INFO: [Worker 0] Batching and saving trajectory data for chunk_019 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/12 17:42:22 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 17:42:30 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 17:42:31 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_019	[pipeline.py: 1174]
+05/12 17:42:31 INFO: [Worker 0] Batching and saving trajectory data for chunk_019 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/12 17:42:31 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 17:42:33 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:42:34 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:42:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 17:42:37 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_019	[save_utils.py: 785]
+05/12 17:42:37 INFO: [Worker 0] Successfully saved trajectory data for chunk_019 in 15.27s (batch: 4.08s, save: 11.19s)	[pipeline.py: 300]
+05/12 17:42:37 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.68s:
+  episode_total: mean=187.04s, total=187.04s, count=1, min=187039.3ms, max=187039.3ms
+  sensor_polling: mean=439.9ms, total=131.98s, count=300, min=394.5ms, max=922.5ms
+  save_trajectories: mean=11.19s, total=11.19s, count=1, min=11187.8ms, max=11187.8ms
+  physics_step: mean=26.2ms, total=7.85s, count=300, min=18.4ms, max=35.8ms
+  save_batch_prep: mean=4.08s, total=4.08s, count=1, min=4084.1ms, max=4084.1ms
+  task_sampling: mean=678.1ms, total=678.1ms, count=1, min=678.1ms, max=678.1ms
+  task_specific_sample: mean=673.7ms, total=673.7ms, count=1, min=673.7ms, max=673.7ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=467.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=20.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 17:42:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 17:42:39 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 17:42:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 17:42:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:42:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:42:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:42:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:42:39 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 17:42:39 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]
+05/12 17:42:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 17:42:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.050m, effective arm-mount z=0.910m (base_body_z=0.050m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 17:42:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 17:42:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 17:42:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.050338m	[env.py: 870]
+05/12 17:42:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 17:42:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 17:42:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 17:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.87444127  0.87740815  0.05033848] yaw=-131.8deg	[env.py: 1019]
+05/12 17:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 17:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -65.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.93849485  0.31407676  0.05033848] yaw=172.0deg	[env.py: 1019]
+05/12 17:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 17:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 72.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 174.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 17:42:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=882.0ms, total=882.1ms	[env.py: 1075]
+05/12 17:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.874, 0.877, 0.050)	[env.py: 1079]
+05/12 17:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -131.8 deg	[env.py: 1082]
+05/12 17:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.917m	[env.py: 1086]
+05/12 17:42:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:42:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:42:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:42:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:42:40 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 17:42:40 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/12 17:42:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.111s	[base_object_manipulation_planner_policy.py: 377]
+05/12 17:42:40 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]
+05/12 17:42:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 17:42:40 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 17:42:41 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.116s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 17:42:41 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.543[m] 89.755[deg]	[grasp_sample.py: 539]
+05/12 17:42:41 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 17:42:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 17:42:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:42:42 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 17:42:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 17:42:46 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_019	[save_utils.py: 785]
+05/12 17:42:46 INFO: [Worker 0] Successfully saved trajectory data for chunk_019 in 15.10s (batch: 4.18s, save: 10.92s)	[pipeline.py: 300]
+05/12 17:42:46 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:42:47 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.53s:
+  episode_total: mean=177.02s, total=177.02s, count=1, min=177017.0ms, max=177017.0ms
+  sensor_polling: mean=400.1ms, total=120.03s, count=300, min=376.8ms, max=707.0ms
+  save_trajectories: mean=10.92s, total=10.92s, count=1, min=10922.2ms, max=10922.2ms
+  physics_step: mean=23.0ms, total=6.91s, count=300, min=16.5ms, max=31.9ms
+  save_batch_prep: mean=4.18s, total=4.18s, count=1, min=4181.0ms, max=4181.0ms
+  task_sampling: mean=525.1ms, total=525.1ms, count=1, min=525.1ms, max=525.1ms
+  task_specific_sample: mean=521.3ms, total=521.3ms, count=1, min=521.3ms, max=521.3ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=468.9us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=17.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 17:42:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 17:42:48 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 17:42:48 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 17:42:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:42:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:42:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:42:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:42:48 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 17:42:48 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 17:42:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 17:42:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.068m, effective arm-mount z=0.928m (base_body_z=0.068m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 17:42:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 17:42:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 17:42:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.067952m	[env.py: 870]
+05/12 17:42:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 17:42:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 17:42:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 17:42:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 105.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:42:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -46.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:42:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 62.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:42:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.69462538  0.11719202  0.06795224] yaw=127.3deg	[env.py: 1019]
+05/12 17:42:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 17:42:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.73133403  0.56962614  0.06795224] yaw=-177.2deg	[env.py: 1019]
+05/12 17:42:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 17:42:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.7151682   0.15872454  0.06795224] yaw=168.6deg	[env.py: 1019]
+05/12 17:42:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 17:42:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 17:42:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=163.6ms, total=163.6ms	[env.py: 1075]
+05/12 17:42:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.695, 0.117, 0.068)	[env.py: 1079]
+05/12 17:42:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 127.3 deg	[env.py: 1082]
+05/12 17:42:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.072m	[env.py: 1086]
+05/12 17:42:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:42:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:42:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:42:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:42:49 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 17:42:49 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/12 17:42:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.117s	[base_object_manipulation_planner_policy.py: 377]
+05/12 17:42:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 17:42:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 17:42:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 17:42:53 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.203s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 17:42:53 INFO: [Worker 0] Feasible grasp found 14 (originally 14): w/ 0.738[m] 96.446[deg]	[grasp_sample.py: 539]
+05/12 17:42:54 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/12 17:42:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 17:42:55 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 17:42:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 17:42:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:42:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:42:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:42:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:42:55 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 17:42:55 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 17:42:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 17:42:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.025m, effective arm-mount z=0.885m (base_body_z=0.025m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 17:42:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 17:42:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 17:42:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.024789m	[env.py: 870]
+05/12 17:42:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 17:42:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 17:42:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 17:42:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 163.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:42:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 53.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:42:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 62.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:42:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 60.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:42:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.66570699  0.60236179  0.02478883] yaw=-188.7deg	[env.py: 1019]
+05/12 17:42:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 17:42:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.79422789  1.0772668   0.02478883] yaw=-114.0deg	[env.py: 1019]
+05/12 17:42:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 17:42:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.65782318  0.24023208  0.02478883] yaw=142.3deg	[env.py: 1019]
+05/12 17:42:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 17:42:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 17:42:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=176.1ms, total=176.2ms	[env.py: 1075]
+05/12 17:42:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.666, 0.602, 0.025)	[env.py: 1079]
+05/12 17:42:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -188.7 deg	[env.py: 1082]
+05/12 17:42:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.044m	[env.py: 1086]
+05/12 17:42:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:42:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:42:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:42:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:42:56 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 17:42:56 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/12 17:42:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s	[base_object_manipulation_planner_policy.py: 377]
+05/12 17:42:56 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]
+05/12 17:42:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 17:42:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 17:42:57 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.974s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 17:42:57 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.593[m] 79.818[deg]	[grasp_sample.py: 539]
+05/12 17:42:57 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 17:42:58 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 17:42:58 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:43:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:43:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:43:30 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:43:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:43:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:43:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:43:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:43:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:43:38 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 17:43:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:43:39 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 17:43:39 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 17:43:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 17:43:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 17:43:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/12 17:43:41 INFO: [Worker 0] Feasibility-checked 78 grasps in 2.627s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 17:43:41 INFO: [Worker 0] Feasible grasp found 40 (originally 40): w/ 0.038[m] 7.575[deg]	[grasp_sample.py: 539]
+05/12 17:43:41 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 17:43:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 17:43:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:43:43 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:43:44 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 17:43:46 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:43:47 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:43:55 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 17:43:55 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 17:43:59 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:43:59 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:44:04 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/12 17:44:04 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=False episode_total=0.87s:
+  episode_total: mean=148.21s, total=296.41s, count=2, min=144585.8ms, max=151825.5ms
+  sensor_polling: mean=431.5ms, total=243.35s, count=564, min=383.5ms, max=1030.2ms
+  physics_step: mean=25.9ms, total=14.60s, count=564, min=16.7ms, max=124.4ms
+  task_sampling: mean=432.8ms, total=865.6ms, count=2, min=406.8ms, max=458.9ms
+  task_specific_sample: mean=428.9ms, total=857.7ms, count=2, min=402.9ms, max=454.8ms
+  scene_randomize: mean=2.1ms, total=4.2ms, count=2, min=1.7ms, max=2.5ms
+  mj_forward_sync: mean=536.2us, total=1.1ms, count=2, min=0.5ms, max=0.6ms
+  policy_setup: mean=16.6us, 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]
+05/12 17:44:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 17:44:05 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 17:44:05 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 17:44:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:44:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:44:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:44:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:44:05 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 17:44:05 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 17:44:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 17:44:05 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]
+05/12 17:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 17:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 17:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.042677m	[env.py: 870]
+05/12 17:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 17:44:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 17:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 17:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.74304077  0.23372042  0.04267671] yaw=144.8deg	[env.py: 1019]
+05/12 17:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 17:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.93266687  0.32482186  0.04267671] yaw=148.8deg	[env.py: 1019]
+05/12 17:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 17:44:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 79.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:44:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.73350512  0.7428475   0.04267671] yaw=-165.1deg	[env.py: 1019]
+05/12 17:44:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 17:44:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 17:44:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=110.4ms, total=110.5ms	[env.py: 1075]
+05/12 17:44:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.743, 0.234, 0.043)	[env.py: 1079]
+05/12 17:44:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 144.8 deg	[env.py: 1082]
+05/12 17:44:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.991m	[env.py: 1086]
+05/12 17:44:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:44:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:44:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:44:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:44:06 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 17:44:06 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/12 17:44:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s	[base_object_manipulation_planner_policy.py: 377]
+05/12 17:44:06 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]
+05/12 17:44:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 17:44:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 17:44:07 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.928s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 17:44:07 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.572[m] 89.473[deg]	[grasp_sample.py: 539]
+05/12 17:44:07 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 17:44:07 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 17:44:07 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:44:14 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_019	[pipeline.py: 1174]
+05/12 17:44:14 INFO: [Worker 0] Batching and saving trajectory data for chunk_019 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/12 17:44:14 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 17:44:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 17:44:29 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_019	[save_utils.py: 785]
+05/12 17:44:29 INFO: [Worker 0] Successfully saved trajectory data for chunk_019 in 15.24s (batch: 4.18s, save: 11.06s)	[pipeline.py: 300]
+05/12 17:44:30 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.41s:
+  episode_total: mean=190.35s, total=190.35s, count=1, min=190347.4ms, max=190347.4ms
+  sensor_polling: mean=438.6ms, total=131.59s, count=300, min=393.7ms, max=848.6ms
+  save_trajectories: mean=11.06s, total=11.06s, count=1, min=11059.3ms, max=11059.3ms
+  physics_step: mean=24.8ms, total=7.45s, count=300, min=16.6ms, max=34.7ms
+  save_batch_prep: mean=4.18s, total=4.18s, count=1, min=4177.7ms, max=4177.7ms
+  task_sampling: mean=411.7ms, total=411.7ms, count=1, min=411.7ms, max=411.7ms
+  task_specific_sample: mean=407.7ms, total=407.7ms, count=1, min=407.7ms, max=407.7ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=453.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  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]
+05/12 17:44:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 17:44:31 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 17:44:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 17:44:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:44:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:44:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:44:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:44:31 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 17:44:31 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 17:44:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 17:44:31 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]
+05/12 17:44:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 17:44:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 17:44:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.073937m	[env.py: 870]
+05/12 17:44:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 17:44:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 17:44:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 17:44:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -55.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:44:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 124.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:44:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.84183106  0.21982123  0.07393729] yaw=143.5deg	[env.py: 1019]
+05/12 17:44:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 17:44:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 70.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:44:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 86.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:44:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.86901788  0.16507159  0.07393729] yaw=168.5deg	[env.py: 1019]
+05/12 17:44:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 17:44:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.91289088  0.05466132  0.07393729] yaw=115.7deg	[env.py: 1019]
+05/12 17:44:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 17:44:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 17:44:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=183.7ms, total=183.7ms	[env.py: 1075]
+05/12 17:44:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.842, 0.220, 0.074)	[env.py: 1079]
+05/12 17:44:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 143.5 deg	[env.py: 1082]
+05/12 17:44:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.900m	[env.py: 1086]
+05/12 17:44:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:44:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:44:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:44:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:44:32 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 17:44:32 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/12 17:44:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.111s	[base_object_manipulation_planner_policy.py: 377]
+05/12 17:44:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 17:44:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 17:44:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 17:44:33 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.188s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 17:44:33 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.510[m] 94.036[deg]	[grasp_sample.py: 539]
+05/12 17:44:33 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 17:44:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 17:44:33 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:44:34 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 17:45:00 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:45:01 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 17:45:08 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 17:45:09 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 17:45:13 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:45:20 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:45:28 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_019	[pipeline.py: 1174]
+05/12 17:45:28 INFO: [Worker 0] Batching and saving trajectory data for chunk_019 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/12 17:45:28 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 17:45:29 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 17:45:33 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:45:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:45:38 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_019	[pipeline.py: 1174]
+05/12 17:45:38 INFO: [Worker 0] Batching and saving trajectory data for chunk_019 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/12 17:45:38 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 17:45:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:45:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:45:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:45:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 17:45:42 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_019	[save_utils.py: 785]
+05/12 17:45:42 INFO: [Worker 0] Successfully saved trajectory data for chunk_019 in 14.84s (batch: 3.77s, save: 11.07s)	[pipeline.py: 300]
+05/12 17:45:43 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=1.20s:
+  episode_total: mean=184.09s, total=184.09s, count=1, min=184089.6ms, max=184089.6ms
+  sensor_polling: mean=432.1ms, total=129.62s, count=300, min=398.4ms, max=919.7ms
+  save_trajectories: mean=11.07s, total=11.07s, count=1, min=11072.3ms, max=11072.3ms
+  physics_step: mean=24.7ms, total=7.41s, count=300, min=16.8ms, max=32.8ms
+  save_batch_prep: mean=3.77s, total=3.77s, count=1, min=3770.4ms, max=3770.4ms
+  task_sampling: mean=1.20s, total=1.20s, count=1, min=1198.0ms, max=1198.0ms
+  task_specific_sample: mean=1.19s, total=1.19s, count=1, min=1193.9ms, max=1193.9ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=456.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=27.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 17:45:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:45:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 17:45:44 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 17:45:44 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 17:45:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:45:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:45:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:45:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:45:44 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 17:45:44 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 17:45:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 17:45:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.095m, effective arm-mount z=0.955m (base_body_z=0.095m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 17:45:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 17:45:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 17:45:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.095365m	[env.py: 870]
+05/12 17:45:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 17:45:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 17:45:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 17:45:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -29.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:45:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.87015299  0.24115452  0.09536498] yaw=168.3deg	[env.py: 1019]
+05/12 17:45:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 17:45:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 100.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:45:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.78767321  0.79709924  0.09536498] yaw=-153.9deg	[env.py: 1019]
+05/12 17:45:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 17:45:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -50.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:45:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.84822901  0.66409425  0.09536498] yaw=-157.4deg	[env.py: 1019]
+05/12 17:45:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 17:45:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 17:45:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=212.6ms, total=212.7ms	[env.py: 1075]
+05/12 17:45:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.870, 0.241, 0.095)	[env.py: 1079]
+05/12 17:45:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 168.3 deg	[env.py: 1082]
+05/12 17:45:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.866m	[env.py: 1086]
+05/12 17:45:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:45:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:45:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:45:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:45:45 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 17:45:45 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/12 17:45:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.111s	[base_object_manipulation_planner_policy.py: 377]
+05/12 17:45:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 17:45:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 17:45:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 17:45:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:45:46 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.829s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 17:45:46 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.439[m] 92.230[deg]	[grasp_sample.py: 539]
+05/12 17:45:46 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 17:45:46 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 17:45:46 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:45:47 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 17:45:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:45:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:45:49 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 17:45:49 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 17:45:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 17:45:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 17:45:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.092s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/12 17:45:50 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.759s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 17:45:50 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.031[m] 0.492[deg]	[grasp_sample.py: 539]
+05/12 17:45:50 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 17:45:50 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 17:45:50 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:45:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 17:45:53 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_019	[save_utils.py: 785]
+05/12 17:45:53 INFO: [Worker 0] Successfully saved trajectory data for chunk_019 in 15.51s (batch: 4.29s, save: 11.22s)	[pipeline.py: 300]
+05/12 17:45:54 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.92s:
+  episode_total: mean=92.21s, total=184.43s, count=2, min=6084.1ms, max=178344.0ms
+  sensor_polling: mean=407.1ms, total=122.12s, count=300, min=388.3ms, max=757.6ms
+  save_trajectories: mean=11.22s, total=11.22s, count=1, min=11223.1ms, max=11223.1ms
+  physics_step: mean=24.0ms, total=7.19s, count=300, min=16.5ms, max=44.7ms
+  save_batch_prep: mean=4.29s, total=4.29s, count=1, min=4290.7ms, max=4290.7ms
+  task_sampling: mean=460.9ms, total=921.9ms, count=2, min=444.9ms, max=477.0ms
+  task_specific_sample: mean=457.5ms, total=915.0ms, count=2, min=442.0ms, max=473.0ms
+  scene_randomize: mean=1.8ms, total=3.6ms, count=2, min=1.1ms, max=2.5ms
+  mj_forward_sync: mean=479.4us, total=1.0ms, count=2, min=0.5ms, max=0.5ms
+  policy_setup: mean=16.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 17:45:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:45:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 17:45:55 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 17:45:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 17:45:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:45:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:45:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:45:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:45:55 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 17:45:55 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 17:45:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 17:45:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.089m, effective arm-mount z=0.949m (base_body_z=0.089m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 17:45:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 17:45:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 17:45:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.088510m	[env.py: 870]
+05/12 17:45:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 17:45:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 17:45:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 17:45:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 65.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:45:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -57.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:45:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 107.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:45:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.91170651  0.74379377  0.08851033] yaw=-170.9deg	[env.py: 1019]
+05/12 17:45:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 17:45:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -66.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:45:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.95990705  0.94594858  0.08851033] yaw=-131.7deg	[env.py: 1019]
+05/12 17:45:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 17:45:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.66507029  0.42371122  0.08851033] yaw=163.3deg	[env.py: 1019]
+05/12 17:45:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 17:45:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 17:45:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=201.2ms, total=201.2ms	[env.py: 1075]
+05/12 17:45:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.912, 0.744, 0.089)	[env.py: 1079]
+05/12 17:45:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -170.9 deg	[env.py: 1082]
+05/12 17:45:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.833m	[env.py: 1086]
+05/12 17:45:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:45:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:45:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:45:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:45:56 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 17:45:56 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/12 17:45:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.112s	[base_object_manipulation_planner_policy.py: 377]
+05/12 17:45:56 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]
+05/12 17:45:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 17:45:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 17:45:57 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.226s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 17:45:57 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.367[m] 88.216[deg]	[grasp_sample.py: 539]
+05/12 17:45:57 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 17:45:58 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 17:45:58 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:46:03 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 17:46:07 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:46:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:46:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:46:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:46:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:46:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:46:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:46:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:46:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:46:24 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 17:46:24 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 17:46:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 17:46:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 17:46:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/12 17:46:24 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.703s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 17:46:24 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.035[m] 0.456[deg]	[grasp_sample.py: 539]
+05/12 17:46:26 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/12 17:46:27 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:46:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 17:46:27 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 17:46:27 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 17:46:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:46:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:46:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:46:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:46:27 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 17:46:27 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 17:46:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 17:46:27 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]
+05/12 17:46:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 17:46:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 17:46:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.081706m	[env.py: 870]
+05/12 17:46:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 17:46:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 17:46:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 17:46:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 73.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:46:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.93872165  0.91362215  0.08170629] yaw=-174.2deg	[env.py: 1019]
+05/12 17:46:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 17:46:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 165.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:46:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.69603356  0.85428868  0.08170629] yaw=-185.0deg	[env.py: 1019]
+05/12 17:46:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 17:46:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -48.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:46:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.92876942  0.72025276  0.08170629] yaw=-181.9deg	[env.py: 1019]
+05/12 17:46:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 17:46:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 17:46:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=226.2ms, total=226.2ms	[env.py: 1075]
+05/12 17:46:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.939, 0.914, 0.082)	[env.py: 1079]
+05/12 17:46:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -174.2 deg	[env.py: 1082]
+05/12 17:46:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.877m	[env.py: 1086]
+05/12 17:46:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:46:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:46:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:46:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:46:28 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 17:46:28 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/12 17:46:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.063s	[base_object_manipulation_planner_policy.py: 377]
+05/12 17:46:28 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]
+05/12 17:46:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 17:46:28 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:46:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 17:46:29 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.036s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 17:46:29 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.559[m] 96.385[deg]	[grasp_sample.py: 539]
+05/12 17:46:29 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 17:46:29 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 17:46:29 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:46:30 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 17:46:36 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 17:46:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:46:37 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 17:46:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:46:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:46:40 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:46:40 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:46:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:46:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:46:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:46:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:46:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:46:49 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 17:46:49 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 17:46:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 17:46:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 17:46:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.095s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/12 17:46:50 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.650s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 17:46:50 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.845[deg]	[grasp_sample.py: 539]
+05/12 17:46:51 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/12 17:46:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 17:46:52 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 17:46:52 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 17:46:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:46:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:46:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:46:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:46:52 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 17:46:52 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 17:46:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 17:46:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.092m, effective arm-mount z=0.952m (base_body_z=0.092m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 17:46:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 17:46:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 17:46:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.091643m	[env.py: 870]
+05/12 17:46:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 17:46:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 17:46:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 17:46:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -51.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:46:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 82.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:46:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 108.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:46:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.94204129  0.12303413  0.09164324] yaw=165.1deg	[env.py: 1019]
+05/12 17:46:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 17:46:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 74.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:46:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.61615976  0.41165705  0.09164324] yaw=172.0deg	[env.py: 1019]
+05/12 17:46:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 17:46:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.89595208  1.1628925   0.09164324] yaw=-156.8deg	[env.py: 1019]
+05/12 17:46:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 17:46:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 17:46:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=235.7ms, total=235.8ms	[env.py: 1075]
+05/12 17:46:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.942, 0.123, 0.092)	[env.py: 1079]
+05/12 17:46:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 165.1 deg	[env.py: 1082]
+05/12 17:46:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.841m	[env.py: 1086]
+05/12 17:46:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:46:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:46:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:46:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:46:53 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 17:46:53 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/12 17:46:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s	[base_object_manipulation_planner_policy.py: 377]
+05/12 17:46:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 17:46:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 17:46:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 17:46:54 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.924s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 17:46:54 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.465[m] 99.441[deg]	[grasp_sample.py: 539]
+05/12 17:46:54 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 17:46:55 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 17:46:55 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:46:55 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 17:47:16 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:47:24 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 17:47:28 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:47:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:47:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:47:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:47:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:47:37 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:47:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:47:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:47:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:47:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:47:43 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 17:47:43 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 17:47:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 17:47:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 17:47:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/12 17:47:44 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.756s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 17:47:44 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.750[deg]	[grasp_sample.py: 539]
+05/12 17:47:45 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/12 17:47:46 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 17:47:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 17:47:47 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 17:47:47 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 17:47:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:47:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:47:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:47:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:47:47 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 17:47:47 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 17:47:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 17:47:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.048m, effective arm-mount z=0.908m (base_body_z=0.048m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 17:47:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 17:47:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 17:47:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.048073m	[env.py: 870]
+05/12 17:47:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 17:47:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 17:47:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 17:47:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 120.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:47:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -64.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:47:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 92.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:47:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -70.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:47:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.60955647  0.44217071  0.04807346] yaw=209.1deg	[env.py: 1019]
+05/12 17:47:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 17:47:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.83317278  0.31330031  0.04807346] yaw=135.5deg	[env.py: 1019]
+05/12 17:47:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 17:47:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 17:47:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=317.4ms, total=317.5ms	[env.py: 1075]
+05/12 17:47:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.610, 0.442, 0.048)	[env.py: 1079]
+05/12 17:47:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 209.1 deg	[env.py: 1082]
+05/12 17:47:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.094m	[env.py: 1086]
+05/12 17:47:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:47:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:47:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:47:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:47:47 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 17:47:47 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/12 17:47:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.095s	[base_object_manipulation_planner_policy.py: 377]
+05/12 17:47:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 17:47:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 17:47:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 17:47:49 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.565s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 17:47:49 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.744[m] 89.162[deg]	[grasp_sample.py: 539]
+05/12 17:47:49 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 17:47:50 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 17:47:50 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:47:50 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 17:47:50 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:48:06 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 17:48:33 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_019	[pipeline.py: 1174]
+05/12 17:48:33 INFO: [Worker 0] Batching and saving trajectory data for chunk_019 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/12 17:48:33 INFO: [Worker 0] Preparing episode data: 295 timesteps	[save_utils.py: 278]
+05/12 17:48:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:48:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:48:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:48:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:48:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:48:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:48:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:48:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:48:45 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 17:48:45 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 17:48:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 17:48:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 17:48:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/12 17:48:46 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.727s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 17:48:46 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.323[deg]	[grasp_sample.py: 539]
+05/12 17:48:47 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 17:48:47 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/12 17:48:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 17:48:49 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_019	[save_utils.py: 785]
+05/12 17:48:49 INFO: [Worker 0] Successfully saved trajectory data for chunk_019 in 15.37s (batch: 4.13s, save: 11.24s)	[pipeline.py: 300]
+05/12 17:48:49 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.51s:
+  episode_total: mean=174.20s, total=174.20s, count=1, min=174197.4ms, max=174197.4ms
+  sensor_polling: mean=406.9ms, total=119.63s, count=294, min=388.7ms, max=738.0ms
+  save_trajectories: mean=11.24s, total=11.24s, count=1, min=11240.2ms, max=11240.2ms
+  physics_step: mean=24.2ms, total=7.12s, count=294, min=16.6ms, max=28.0ms
+  save_batch_prep: mean=4.13s, total=4.13s, count=1, min=4131.3ms, max=4131.3ms
+  task_sampling: mean=508.3ms, total=508.3ms, count=1, min=508.3ms, max=508.3ms
+  task_specific_sample: mean=504.4ms, total=504.4ms, count=1, min=504.4ms, max=504.4ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=443.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 17:48:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 17:48:50 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 17:48:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 17:48:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:48:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:48:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:48:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:48:50 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 17:48:50 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 17:48:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 17:48:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.045m, effective arm-mount z=0.905m (base_body_z=0.045m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 17:48:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 17:48:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 17:48:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.044880m	[env.py: 870]
+05/12 17:48:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 17:48:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 17:48:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 17:48:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 71.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:48:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 171.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:48:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 67.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:48:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.70886862  0.36810375  0.04487992] yaw=213.0deg	[env.py: 1019]
+05/12 17:48:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 17:48:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -65.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:48:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.95148242  0.3650205   0.04487992] yaw=192.5deg	[env.py: 1019]
+05/12 17:48:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 17:48:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.80610861  0.4006232   0.04487992] yaw=206.9deg	[env.py: 1019]
+05/12 17:48:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 17:48:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 17:48:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=261.9ms, total=261.9ms	[env.py: 1075]
+05/12 17:48:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.709, 0.368, 0.045)	[env.py: 1079]
+05/12 17:48:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 213.0 deg	[env.py: 1082]
+05/12 17:48:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.000m	[env.py: 1086]
+05/12 17:48:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:48:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:48:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:48:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:48:51 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 17:48:51 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/12 17:48:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.112s	[base_object_manipulation_planner_policy.py: 377]
+05/12 17:48:51 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]
+05/12 17:48:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 17:48:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 17:48:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 17:48:51 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 17:48:51 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 17:48:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:48:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:48:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:48:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:48:51 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 17:48:51 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 17:48:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 17:48:51 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]
+05/12 17:48:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 17:48:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 17:48:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.095583m	[env.py: 870]
+05/12 17:48:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 17:48:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 17:48:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 17:48:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.7185371   0.88639162  0.09558296] yaw=-153.0deg	[env.py: 1019]
+05/12 17:48:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 17:48:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 95.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:48:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -29.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:48:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 67.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:48:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.7885645   1.04704064  0.09558296] yaw=-125.6deg	[env.py: 1019]
+05/12 17:48:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 17:48:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.77635301  0.71086299  0.09558296] yaw=-159.8deg	[env.py: 1019]
+05/12 17:48:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 17:48:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 17:48:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=184.3ms, total=184.3ms	[env.py: 1075]
+05/12 17:48:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.719, 0.886, 0.096)	[env.py: 1079]
+05/12 17:48:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -153.0 deg	[env.py: 1082]
+05/12 17:48:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.064m	[env.py: 1086]
+05/12 17:48:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:48:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:48:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:48:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:48:52 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 17:48:52 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/12 17:48:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.239s	[base_object_manipulation_planner_policy.py: 377]
+05/12 17:48:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 17:48:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 17:48:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 17:48:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.879s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 17:48:55 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.624[m] 87.052[deg]	[grasp_sample.py: 539]
+05/12 17:48:55 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 17:48:55 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 17:48:55 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:48:56 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 17:48:57 INFO: [Worker 0] Feasibility-checked 88 grasps in 5.891s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 17:48:57 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.698[m] 90.262[deg]	[grasp_sample.py: 539]
+05/12 17:48:57 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 17:48:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 17:48:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:48:58 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 17:49:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:49:10 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 17:49:14 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:49:16 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_019	[pipeline.py: 1174]
+05/12 17:49:16 INFO: [Worker 0] Batching and saving trajectory data for chunk_019 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/12 17:49:16 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 17:49:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:49:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:49:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:49:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:49:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:49:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:49:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:49:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 17:49:31 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_019	[save_utils.py: 785]
+05/12 17:49:31 INFO: [Worker 0] Successfully saved trajectory data for chunk_019 in 15.53s (batch: 3.96s, save: 11.57s)	[pipeline.py: 300]
+05/12 17:49:32 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.90s:
+  episode_total: mean=162.46s, total=324.93s, count=2, min=140438.5ms, max=184487.0ms
+  sensor_polling: mean=429.2ms, total=234.33s, count=546, min=387.3ms, max=1181.7ms
+  physics_step: mean=25.0ms, total=13.63s, count=546, min=15.5ms, max=36.1ms
+  save_trajectories: mean=11.57s, total=11.57s, count=1, min=11569.3ms, max=11569.3ms
+  save_batch_prep: mean=3.96s, total=3.96s, count=1, min=3955.7ms, max=3955.7ms
+  task_sampling: mean=449.1ms, total=898.3ms, count=2, min=393.1ms, max=505.1ms
+  task_specific_sample: mean=445.3ms, total=890.6ms, count=2, min=389.5ms, max=501.0ms
+  scene_randomize: mean=1.5ms, total=3.1ms, count=2, min=1.3ms, max=1.8ms
+  mj_forward_sync: mean=504.2us, total=1.0ms, count=2, min=0.5ms, max=0.6ms
+  policy_setup: mean=13.1us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 17:49:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:49:32 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 17:49:32 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 17:49:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 17:49:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 17:49:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/12 17:49:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 17:49:33 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 17:49:33 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 17:49:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:49:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:49:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:49:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:49:33 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 17:49:33 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 17:49:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 17:49:33 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]
+05/12 17:49:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 17:49:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 17:49:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.063455m	[env.py: 870]
+05/12 17:49:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 17:49:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 17:49:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 17:49:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.75136214  1.02963308  0.06345542] yaw=-126.4deg	[env.py: 1019]
+05/12 17:49:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 17:49:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.98160896  1.18706019  0.06345542] yaw=-98.2deg	[env.py: 1019]
+05/12 17:49:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 17:49:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.83120456  0.31881018  0.06345542] yaw=193.4deg	[env.py: 1019]
+05/12 17:49:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 17:49:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 17:49:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=188.8ms, total=188.8ms	[env.py: 1075]
+05/12 17:49:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.751, 1.030, 0.063)	[env.py: 1079]
+05/12 17:49:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -126.4 deg	[env.py: 1082]
+05/12 17:49:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.097m	[env.py: 1086]
+05/12 17:49:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:49:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:49:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:49:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:49:34 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 17:49:34 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/12 17:49:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.110s	[base_object_manipulation_planner_policy.py: 377]
+05/12 17:49:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 17:49:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 17:49:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 17:49:35 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.871s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 17:49:35 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.101[m] 0.536[deg]	[grasp_sample.py: 539]
+05/12 17:49:37 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/12 17:49:37 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.680s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 17:49:37 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.674[m] 83.587[deg]	[grasp_sample.py: 539]
+05/12 17:49:38 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/12 17:49:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 17:49:39 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 17:49:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 17:49:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:49:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:49:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:49:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:49:39 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 17:49:39 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]
+05/12 17:49:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 17:49:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.035m, effective arm-mount z=0.895m (base_body_z=0.035m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 17:49:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 17:49:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 17:49:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034940m	[env.py: 870]
+05/12 17:49:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 17:49:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 17:49:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 17:49:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 79.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:49:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 17:49:39 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 17:49:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 17:49:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:49:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:49:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:49:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:49:39 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 17:49:39 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]
+05/12 17:49:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 17:49:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.037m, effective arm-mount z=0.897m (base_body_z=0.037m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 17:49:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 17:49:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 17:49:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.036752m	[env.py: 870]
+05/12 17:49:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 17:49:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 17:49:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 17:49:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.81902646  0.98356413  0.03493963] yaw=-134.7deg	[env.py: 1019]
+05/12 17:49:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 17:49:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.93974693  0.77814486  0.03675179] yaw=-137.5deg	[env.py: 1019]
+05/12 17:49:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 17:49:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.82864855  0.02010517  0.03493963] yaw=129.6deg	[env.py: 1019]
+05/12 17:49:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 17:49:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 58.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:49:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.85486379  0.85882511  0.03675179] yaw=-178.0deg	[env.py: 1019]
+05/12 17:49:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -162.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:49:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 17:49:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.88386649  0.8653325   0.03493963] yaw=-182.4deg	[env.py: 1019]
+05/12 17:49:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 17:49:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 17:49:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=686.4ms, total=686.5ms	[env.py: 1075]
+05/12 17:49:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.819, 0.984, 0.035)	[env.py: 1079]
+05/12 17:49:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -134.7 deg	[env.py: 1082]
+05/12 17:49:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.016m	[env.py: 1086]
+05/12 17:49:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:49:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:49:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:49:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:49:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.8611792   0.64951929  0.03675179] yaw=-129.0deg	[env.py: 1019]
+05/12 17:49:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 17:49:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 17:49:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=226.4ms, total=226.4ms	[env.py: 1075]
+05/12 17:49:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.940, 0.778, 0.037)	[env.py: 1079]
+05/12 17:49:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -137.5 deg	[env.py: 1082]
+05/12 17:49:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.818m	[env.py: 1086]
+05/12 17:49:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:49:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:49:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:49:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:49:40 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 17:49:40 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/12 17:49:40 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 17:49:40 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/12 17:49:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s	[base_object_manipulation_planner_policy.py: 377]
+05/12 17:49:40 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]
+05/12 17:49:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 17:49:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.098s	[base_object_manipulation_planner_policy.py: 377]
+05/12 17:49:40 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]
+05/12 17:49:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 17:49:40 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 17:49:40 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 17:49:41 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.008s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 17:49:41 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.457[m] 95.277[deg]	[grasp_sample.py: 539]
+05/12 17:49:41 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 17:49:41 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 17:49:41 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:49:42 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 17:49:44 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.873s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 17:49:44 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.605[m] 87.522[deg]	[grasp_sample.py: 539]
+05/12 17:49:45 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/12 17:49:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 17:49:46 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 17:49:46 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 17:49:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:49:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:49:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:49:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:49:46 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 17:49:46 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 17:49:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 17:49:46 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]
+05/12 17:49:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 17:49:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 17:49:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.050504m	[env.py: 870]
+05/12 17:49:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 17:49:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 17:49:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 17:49:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.00170795  1.06247521  0.05050354] yaw=-118.3deg	[env.py: 1019]
+05/12 17:49:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 17:49:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.86673973  1.03321606  0.05050354] yaw=-152.3deg	[env.py: 1019]
+05/12 17:49:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 17:49:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 64.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:49:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 171.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:49:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -36.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:49:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.71027032  0.74032837  0.05050354] yaw=-153.9deg	[env.py: 1019]
+05/12 17:49:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 17:49:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 17:49:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=194.5ms, total=194.5ms	[env.py: 1075]
+05/12 17:49:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.002, 1.062, 0.051)	[env.py: 1079]
+05/12 17:49:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -118.3 deg	[env.py: 1082]
+05/12 17:49:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.910m	[env.py: 1086]
+05/12 17:49:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:49:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:49:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:49:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:49:47 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 17:49:47 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/12 17:49:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s	[base_object_manipulation_planner_policy.py: 377]
+05/12 17:49:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 17:49:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 17:49:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 17:49:49 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:49:49 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.331s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 17:49:49 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.518[m] 95.038[deg]	[grasp_sample.py: 539]
+05/12 17:49:50 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 17:49:50 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 17:49:50 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:49:58 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 17:49:59 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:50:01 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:50:07 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 17:50:12 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:50:26 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:50:36 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 17:50:37 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:50:41 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:50:46 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 17:50:50 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:51:05 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 17:51:11 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 17:51:34 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_019	[pipeline.py: 1174]
+05/12 17:51:34 INFO: [Worker 0] Batching and saving trajectory data for chunk_019 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/12 17:51:34 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 17:51:41 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_019	[pipeline.py: 1174]
+05/12 17:51:41 INFO: [Worker 0] Batching and saving trajectory data for chunk_019 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/12 17:51:41 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 17:51:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 17:51:49 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_019	[save_utils.py: 785]
+05/12 17:51:49 INFO: [Worker 0] Successfully saved trajectory data for chunk_019 in 15.75s (batch: 4.43s, save: 11.32s)	[pipeline.py: 300]
+05/12 17:51:50 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.67s:
+  episode_total: mean=179.12s, total=179.12s, count=1, min=179123.2ms, max=179123.2ms
+  sensor_polling: mean=403.3ms, total=120.99s, count=300, min=377.3ms, max=770.5ms
+  save_trajectories: mean=11.32s, total=11.32s, count=1, min=11319.1ms, max=11319.1ms
+  physics_step: mean=23.0ms, total=6.91s, count=300, min=17.2ms, max=29.0ms
+  save_batch_prep: mean=4.43s, total=4.43s, count=1, min=4431.1ms, max=4431.1ms
+  task_sampling: mean=668.4ms, total=668.4ms, count=1, min=668.4ms, max=668.4ms
+  task_specific_sample: mean=664.4ms, total=664.4ms, count=1, min=664.4ms, max=664.4ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=458.9us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=27.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 17:51:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 17:51:51 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 17:51:51 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 17:51:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:51:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:51:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:51:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:51:51 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 17:51:51 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 17:51:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 17:51:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.018m, effective arm-mount z=0.878m (base_body_z=0.018m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 17:51:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 17:51:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 17:51:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.017762m	[env.py: 870]
+05/12 17:51:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 17:51:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 17:51:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 17:51:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 66.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:51:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.89839637  1.14884505  0.01776151] yaw=-140.3deg	[env.py: 1019]
+05/12 17:51:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 17:51:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -41.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:51:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -35.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:51:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.10728938  1.03046822  0.01776151] yaw=-125.6deg	[env.py: 1019]
+05/12 17:51:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 17:51:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.97899339  0.11688388  0.01776151] yaw=190.7deg	[env.py: 1019]
+05/12 17:51:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 17:51:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 17:51:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=165.8ms, total=165.9ms	[env.py: 1075]
+05/12 17:51:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.898, 1.149, 0.018)	[env.py: 1079]
+05/12 17:51:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -140.3 deg	[env.py: 1082]
+05/12 17:51:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.045m	[env.py: 1086]
+05/12 17:51:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:51:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:51:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:51:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:51:52 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 17:51:52 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/12 17:51:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.117s	[base_object_manipulation_planner_policy.py: 377]
+05/12 17:51:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 17:51:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 17:51:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 17:51:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.817s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 17:51:55 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.588[m] 83.543[deg]	[grasp_sample.py: 539]
+05/12 17:51:55 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 17:51:55 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 17:51:55 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:51:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 17:51:57 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_019	[save_utils.py: 785]
+05/12 17:51:57 INFO: [Worker 0] Successfully saved trajectory data for chunk_019 in 15.46s (batch: 4.69s, save: 10.77s)	[pipeline.py: 300]
+05/12 17:51:58 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=1.55s:
+  episode_total: mean=147.57s, total=442.70s, count=3, min=114955.8ms, max=187796.9ms
+  sensor_polling: mean=431.8ms, total=332.06s, count=769, min=386.0ms, max=968.9ms
+  physics_step: mean=24.7ms, total=18.97s, count=769, min=16.9ms, max=85.6ms
+  save_trajectories: mean=10.77s, total=10.77s, count=1, min=10767.3ms, max=10767.3ms
+  save_batch_prep: mean=4.69s, total=4.69s, count=1, min=4689.7ms, max=4689.7ms
+  task_sampling: mean=515.3ms, total=1.55s, count=3, min=489.4ms, max=544.8ms
+  task_specific_sample: mean=510.8ms, total=1.53s, count=3, min=485.3ms, max=539.8ms
+  scene_randomize: mean=2.2ms, total=6.7ms, count=3, min=1.9ms, max=2.8ms
+  mj_forward_sync: mean=464.0us, total=1.4ms, count=3, min=0.5ms, max=0.5ms
+  policy_setup: mean=16.2us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 17:51:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 17:51:59 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 17:51:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 17:51:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:51:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:51:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:51:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:51:59 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 17:51:59 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 17:51:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 17:51:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.095m, effective arm-mount z=0.955m (base_body_z=0.095m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 17:51:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 17:51:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 17:51:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.094891m	[env.py: 870]
+05/12 17:51:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 17:51:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 17:51:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 17:51:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -49.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:51:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -55.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:51:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.86796519  0.59774321  0.0948909 ] yaw=-157.1deg	[env.py: 1019]
+05/12 17:51:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 17:51:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -60.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:51:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.98188346  0.13713359  0.0948909 ] yaw=150.0deg	[env.py: 1019]
+05/12 17:51:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 17:52:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.74055441  0.6165772   0.0948909 ] yaw=-169.4deg	[env.py: 1019]
+05/12 17:52:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 17:52:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 17:52:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=201.7ms, total=201.8ms	[env.py: 1075]
+05/12 17:52:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.868, 0.598, 0.095)	[env.py: 1079]
+05/12 17:52:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -157.1 deg	[env.py: 1082]
+05/12 17:52:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.842m	[env.py: 1086]
+05/12 17:52:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:52:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:52:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:52:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:52:00 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 17:52:00 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/12 17:52:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.136s	[base_object_manipulation_planner_policy.py: 377]
+05/12 17:52:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 17:52:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 17:52:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.088s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 17:52:01 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.910s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 17:52:01 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.399[m] 83.029[deg]	[grasp_sample.py: 539]
+05/12 17:52:01 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 17:52:02 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 17:52:02 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:52:02 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 17:52:06 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 17:52:08 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 17:52:32 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_019	[pipeline.py: 1174]
+05/12 17:52:32 INFO: [Worker 0] Batching and saving trajectory data for chunk_019 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/12 17:52:32 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 17:52:35 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_019	[pipeline.py: 1174]
+05/12 17:52:35 INFO: [Worker 0] Batching and saving trajectory data for chunk_019 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/12 17:52:35 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 17:52:37 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:52:46 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 17:52:46 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:52:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 17:52:47 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_019	[save_utils.py: 785]
+05/12 17:52:47 INFO: [Worker 0] Successfully saved trajectory data for chunk_019 in 15.19s (batch: 4.30s, save: 10.89s)	[pipeline.py: 300]
+05/12 17:52:47 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=2.73s:
+  episode_total: mean=104.52s, total=418.10s, count=4, min=6244.6ms, max=180869.2ms
+  sensor_polling: mean=436.6ms, total=309.98s, count=710, min=386.1ms, max=973.6ms
+  physics_step: mean=24.7ms, total=17.51s, count=710, min=17.0ms, max=36.5ms
+  save_trajectories: mean=10.89s, total=10.89s, count=1, min=10891.9ms, max=10891.9ms
+  save_batch_prep: mean=4.30s, total=4.30s, count=1, min=4301.3ms, max=4301.3ms
+  task_sampling: mean=682.1ms, total=2.73s, count=4, min=522.4ms, max=969.8ms
+  task_specific_sample: mean=676.8ms, total=2.71s, count=4, min=518.4ms, max=960.5ms
+  scene_randomize: mean=2.1ms, total=8.5ms, count=4, min=1.4ms, max=2.9ms
+  mj_forward_sync: mean=500.2us, total=2.0ms, count=4, min=0.4ms, max=0.6ms
+  policy_setup: mean=16.6us, total=0.1ms, count=4, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 17:52:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 17:52:49 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 17:52:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 17:52:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:52:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:52:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:52:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:52:49 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 17:52:49 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]
+05/12 17:52:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 17:52:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.074m, effective arm-mount z=0.934m (base_body_z=0.074m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 17:52:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 17:52:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 17:52:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.074096m	[env.py: 870]
+05/12 17:52:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 17:52:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 17:52:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 17:52:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -49.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:52:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.71803278  0.61356704  0.0740962 ] yaw=-136.4deg	[env.py: 1019]
+05/12 17:52:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 17:52:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 172.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:52:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.82314565  0.00358205  0.0740962 ] yaw=187.5deg	[env.py: 1019]
+05/12 17:52:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 17:52:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 110.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:52:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.65425096  0.72749091  0.0740962 ] yaw=-199.0deg	[env.py: 1019]
+05/12 17:52:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 17:52:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 17:52:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=300.4ms, total=300.5ms	[env.py: 1075]
+05/12 17:52:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.718, 0.614, 0.074)	[env.py: 1079]
+05/12 17:52:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -136.4 deg	[env.py: 1082]
+05/12 17:52:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.993m	[env.py: 1086]
+05/12 17:52:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:52:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:52:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:52:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:52:49 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 17:52:49 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/12 17:52:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.115s	[base_object_manipulation_planner_policy.py: 377]
+05/12 17:52:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 17:52:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 17:52:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.083s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 17:52:50 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:52:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 17:52:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_019	[save_utils.py: 785]
+05/12 17:52:51 INFO: [Worker 0] Successfully saved trajectory data for chunk_019 in 15.19s (batch: 4.19s, save: 11.00s)	[pipeline.py: 300]
+05/12 17:52:51 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.99s:
+  episode_total: mean=98.22s, total=196.44s, count=2, min=4596.8ms, max=191846.6ms
+  sensor_polling: mean=452.9ms, total=135.88s, count=300, min=392.6ms, max=957.0ms
+  save_trajectories: mean=11.00s, total=11.00s, count=1, min=11004.6ms, max=11004.6ms
+  physics_step: mean=26.5ms, total=7.96s, count=300, min=21.6ms, max=34.2ms
+  save_batch_prep: mean=4.19s, total=4.19s, count=1, min=4187.6ms, max=4187.6ms
+  task_sampling: mean=494.5ms, total=989.0ms, count=2, min=484.5ms, max=504.5ms
+  task_specific_sample: mean=490.7ms, total=981.4ms, count=2, min=481.0ms, max=500.4ms
+  scene_randomize: mean=2.0ms, total=4.0ms, count=2, min=1.4ms, max=2.6ms
+  mj_forward_sync: mean=528.2us, total=1.1ms, count=2, min=0.5ms, max=0.6ms
+  policy_setup: mean=20.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 17:52:51 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.652s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 17:52:51 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.630[m] 87.384[deg]	[grasp_sample.py: 539]
+05/12 17:52:51 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 17:52:52 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 17:52:52 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:52:52 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 17:52:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 17:52:52 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 17:52:52 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 17:52:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:52:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:52:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:52:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:52:52 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 17:52:52 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 17:52:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 17:52:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.091m, effective arm-mount z=0.951m (base_body_z=0.091m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 17:52:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 17:52:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 17:52:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.091466m	[env.py: 870]
+05/12 17:52:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 17:52:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 17:52:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 17:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 71.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.7219363   0.60910125  0.09146632] yaw=-162.1deg	[env.py: 1019]
+05/12 17:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 17:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -68.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -33.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -36.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.63789747  0.3980785   0.09146632] yaw=180.3deg	[env.py: 1019]
+05/12 17:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 17:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.02630572  0.9012544   0.09146632] yaw=-148.5deg	[env.py: 1019]
+05/12 17:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 17:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 17:52:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=163.7ms, total=163.7ms	[env.py: 1075]
+05/12 17:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.722, 0.609, 0.091)	[env.py: 1079]
+05/12 17:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -162.1 deg	[env.py: 1082]
+05/12 17:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.989m	[env.py: 1086]
+05/12 17:52:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:52:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:52:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:52:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:52:53 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 17:52:53 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/12 17:52:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.109s	[base_object_manipulation_planner_policy.py: 377]
+05/12 17:52:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 17:52:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 17:52:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 17:52:54 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.154s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 17:52:54 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.578[m] 91.904[deg]	[grasp_sample.py: 539]
+05/12 17:52:54 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 17:52:54 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 17:52:55 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 17:52:55 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:52:55 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 17:52:58 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:53:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:53:49 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:53:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:53:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:53:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:53:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:53:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:53:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:53:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:53:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:53:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:53:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:53:57 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 17:53:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:53:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:53:59 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 17:53:59 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 17:53:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 17:53:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 17:53:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 17:53:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:54:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:54:01 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:54:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:54:03 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 17:54:03 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 17:54:03 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]
+05/12 17:54:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 17:54:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/12 17:54:05 INFO: [Worker 0] Feasibility-checked 78 grasps in 2.740s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 17:54:05 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.112[m] 1.074[deg]	[grasp_sample.py: 539]
+05/12 17:54:06 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 17:54:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 17:54:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:54:15 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:54:20 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 17:54:21 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 17:54:48 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_019	[pipeline.py: 1174]
+05/12 17:54:48 INFO: [Worker 0] Batching and saving trajectory data for chunk_019 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/12 17:54:48 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 17:54:50 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_019	[pipeline.py: 1174]
+05/12 17:54:50 INFO: [Worker 0] Batching and saving trajectory data for chunk_019 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/12 17:54:50 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 17:55:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 17:55:03 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_019	[save_utils.py: 785]
+05/12 17:55:03 INFO: [Worker 0] Successfully saved trajectory data for chunk_019 in 14.88s (batch: 4.31s, save: 10.57s)	[pipeline.py: 300]
+05/12 17:55:03 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.52s:
+  episode_total: mean=184.17s, total=184.17s, count=1, min=184168.5ms, max=184168.5ms
+  sensor_polling: mean=428.8ms, total=128.65s, count=300, min=389.5ms, max=920.6ms
+  save_trajectories: mean=10.57s, total=10.57s, count=1, min=10569.7ms, max=10569.7ms
+  physics_step: mean=24.8ms, total=7.45s, count=300, min=17.7ms, max=31.8ms
+  save_batch_prep: mean=4.31s, total=4.31s, count=1, min=4314.2ms, max=4314.2ms
+  task_sampling: mean=517.4ms, total=517.4ms, count=1, min=517.4ms, max=517.4ms
+  task_specific_sample: mean=513.2ms, total=513.2ms, count=1, min=513.2ms, max=513.2ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=456.9us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=14.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 17:55:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 17:55:05 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 17:55:05 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 17:55:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:55:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:55:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:55:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:55:05 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 17:55:05 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 17:55:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 17:55:05 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]
+05/12 17:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 17:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 17:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.087273m	[env.py: 870]
+05/12 17:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 17:55:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 17:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 17:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -59.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 119.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -80.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 83.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -42.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:55:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 17:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.80064137  0.73217846  0.08727263] yaw=-203.1deg	[env.py: 1019]
+05/12 17:55:05 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_019	[save_utils.py: 785]
+05/12 17:55:05 INFO: [Worker 0] Successfully saved trajectory data for chunk_019 in 15.52s (batch: 4.19s, save: 11.32s)	[pipeline.py: 300]
+05/12 17:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 17:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 17:55:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=202.1ms, total=202.2ms	[env.py: 1075]
+05/12 17:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.801, 0.732, 0.087)	[env.py: 1079]
+05/12 17:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -203.1 deg	[env.py: 1082]
+05/12 17:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.936m	[env.py: 1086]
+05/12 17:55:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:55:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:55:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:55:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:55:05 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 17:55:05 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/12 17:55:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.112s	[base_object_manipulation_planner_policy.py: 377]
+05/12 17:55:06 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]
+05/12 17:55:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 17:55:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 17:55:06 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.47s:
+  episode_total: mean=194.62s, total=194.62s, count=1, min=194622.9ms, max=194622.9ms
+  sensor_polling: mean=412.4ms, total=123.72s, count=300, min=384.3ms, max=945.6ms
+  save_trajectories: mean=11.32s, total=11.32s, count=1, min=11322.4ms, max=11322.4ms
+  physics_step: mean=23.4ms, total=7.01s, count=300, min=17.4ms, max=60.5ms
+  save_batch_prep: mean=4.19s, total=4.19s, count=1, min=4194.0ms, max=4194.0ms
+  task_sampling: mean=474.0ms, total=474.0ms, count=1, min=474.0ms, max=474.0ms
+  task_specific_sample: mean=470.1ms, total=470.1ms, count=1, min=470.1ms, max=470.1ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=455.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=21.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 17:55:07 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.093s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 17:55:07 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.658[m] 98.355[deg]	[grasp_sample.py: 539]
+05/12 17:55:07 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 17:55:07 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 17:55:07 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:55:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 17:55:08 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 17:55:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 17:55:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:55:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:55:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:55:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:55:08 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 17:55:08 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 17:55:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 17:55:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.003m, effective arm-mount z=0.863m (base_body_z=0.003m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 17:55:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 17:55:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 17:55:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.003218m	[env.py: 870]
+05/12 17:55:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 17:55:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 17:55:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 17:55:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 120.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:55:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 70.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:55:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.83888139  0.76637009  0.00321796] yaw=-172.0deg	[env.py: 1019]
+05/12 17:55:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 17:55:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -30.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:55:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 67.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:55:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.93853346  0.77628491  0.00321796] yaw=-154.9deg	[env.py: 1019]
+05/12 17:55:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 17:55:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 17:55:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=230.6ms, total=230.7ms	[env.py: 1075]
+05/12 17:55:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.839, 0.766, 0.003)	[env.py: 1079]
+05/12 17:55:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -172.0 deg	[env.py: 1082]
+05/12 17:55:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.909m	[env.py: 1086]
+05/12 17:55:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:55:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:55:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:55:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:55:08 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 17:55:08 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/12 17:55:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s	[base_object_manipulation_planner_policy.py: 377]
+05/12 17:55:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 17:55:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 17:55:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 17:55:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.156s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 17:55:09 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.462[m] 87.393[deg]	[grasp_sample.py: 539]
+05/12 17:55:09 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 17:55:10 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 17:55:10 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:55:10 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 17:55:14 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 17:55:40 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_019	[pipeline.py: 1174]
+05/12 17:55:40 INFO: [Worker 0] Batching and saving trajectory data for chunk_019 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/12 17:55:40 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 17:55:44 INFO: [Worker 0] Feasibility-checked 88 grasps in 105.815s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 17:55:44 INFO: [Worker 0] Feasible grasp found 11 (originally 11): w/ 0.247[m] 179.888[deg]	[grasp_sample.py: 539]
+05/12 17:55:46 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/12 17:55:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 17:55:47 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 17:55:47 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 17:55:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:55:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:55:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:55:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:55:47 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 17:55:47 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 17:55:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 17:55:47 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]
+05/12 17:55:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 17:55:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 17:55:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.038121m	[env.py: 870]
+05/12 17:55:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 17:55:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 17:55:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 17:55:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 113.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:55:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 88.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:55:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -53.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:55:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -172.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:55:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -46.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:55:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.17904156  1.07194305  0.03812079] yaw=-113.4deg	[env.py: 1019]
+05/12 17:55:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 17:55:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.83958826  0.50880129  0.03812079] yaw=-191.4deg	[env.py: 1019]
+05/12 17:55:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 17:55:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.92088772  0.41914683  0.03812079] yaw=175.4deg	[env.py: 1019]
+05/12 17:55:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 17:55:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 17:55:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=342.5ms, total=342.6ms	[env.py: 1075]
+05/12 17:55:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.179, 1.072, 0.038)	[env.py: 1079]
+05/12 17:55:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -113.4 deg	[env.py: 1082]
+05/12 17:55:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.789m	[env.py: 1086]
+05/12 17:55:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:55:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:55:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:55:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:55:48 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 17:55:48 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/12 17:55:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.099s	[base_object_manipulation_planner_policy.py: 377]
+05/12 17:55:48 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]
+05/12 17:55:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 17:55:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 17:55:49 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.285s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 17:55:49 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.395[m] 95.907[deg]	[grasp_sample.py: 539]
+05/12 17:55:49 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 17:55:49 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:55:50 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 17:55:50 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:55:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 17:55:54 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_019	[save_utils.py: 785]
+05/12 17:55:54 INFO: [Worker 0] Successfully saved trajectory data for chunk_019 in 14.53s (batch: 3.45s, save: 11.08s)	[pipeline.py: 300]
+05/12 17:55:55 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.47s:
+  episode_total: mean=182.16s, total=182.16s, count=1, min=182158.2ms, max=182158.2ms
+  sensor_polling: mean=432.2ms, total=129.66s, count=300, min=390.3ms, max=1000.2ms
+  save_trajectories: mean=11.08s, total=11.08s, count=1, min=11078.4ms, max=11078.4ms
+  physics_step: mean=25.3ms, total=7.58s, count=300, min=16.7ms, max=45.2ms
+  save_batch_prep: mean=3.45s, total=3.45s, count=1, min=3447.8ms, max=3447.8ms
+  task_sampling: mean=474.5ms, total=474.5ms, count=1, min=474.5ms, max=474.5ms
+  task_specific_sample: mean=470.6ms, total=470.6ms, count=1, min=470.6ms, max=470.6ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=467.5us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=14.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 17:55:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 17:55:56 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 17:55:56 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 17:55:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:55:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:55:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:55:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:55:56 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 17:55:56 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 17:55:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 17:55:56 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]
+05/12 17:55:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 17:55:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 17:55:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.086545m	[env.py: 870]
+05/12 17:55:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 17:55:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 17:55:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 17:55:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -43.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:55:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 60.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:55:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -71.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:55:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 66.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:55:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -44.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:55:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.76002683  0.06247742  0.08654484] yaw=116.6deg	[env.py: 1019]
+05/12 17:55:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 17:55:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 17:55:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=235.0ms, total=235.1ms	[env.py: 1075]
+05/12 17:55:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.760, 0.062, 0.087)	[env.py: 1079]
+05/12 17:55:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 116.6 deg	[env.py: 1082]
+05/12 17:55:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.031m	[env.py: 1086]
+05/12 17:55:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:55:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:55:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:55:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:55:57 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 17:55:57 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/12 17:55:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.116s	[base_object_manipulation_planner_policy.py: 377]
+05/12 17:55:57 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]
+05/12 17:55:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 17:55:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.084s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 17:55:58 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 17:55:59 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.656s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 17:55:59 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.734[m] 92.941[deg]	[grasp_sample.py: 539]
+05/12 17:55:59 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 17:56:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 17:56:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:56:00 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 17:56:02 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:56:05 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:56:14 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 17:56:18 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:56:25 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:56:33 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 17:56:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:57:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:57:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:57:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:57:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:57:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:57:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:57:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:57:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:57:14 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 17:57:14 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 17:57:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 17:57:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 17:57:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 17:57:22 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 17:57:23 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 17:57:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:57:50 INFO: [Worker 0] Saved videos eagerly for episode 13 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_019	[pipeline.py: 1174]
+05/12 17:57:50 INFO: [Worker 0] Batching and saving trajectory data for chunk_019 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/12 17:57:50 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 17:57:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:57:52 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_019	[pipeline.py: 1174]
+05/12 17:57:52 INFO: [Worker 0] Batching and saving trajectory data for chunk_019 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/12 17:57:52 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 17:57:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:57:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:57:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:57:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:57:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:58:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 17:58:00 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 17:58:00 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 17:58:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 17:58:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 17:58:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/12 17:58:03 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.738s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 17:58:03 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.114[m] 3.622[deg]	[grasp_sample.py: 539]
+05/12 17:58:04 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/12 17:58:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 17:58:06 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_019	[save_utils.py: 785]
+05/12 17:58:06 INFO: [Worker 0] Successfully saved trajectory data for chunk_019 in 15.93s (batch: 4.25s, save: 11.68s)	[pipeline.py: 300]
+05/12 17:58:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 17:58:06 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 17:58:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 17:58:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:58:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:58:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:58:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:58:06 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 17:58:06 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]
+05/12 17:58:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 17:58:06 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]
+05/12 17:58:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 17:58:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 17:58:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.082018m	[env.py: 870]
+05/12 17:58:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 17:58:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 17:58:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 17:58:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 87.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:58:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -33.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:58:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 55.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:58:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 169.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:58:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 100.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:58:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.93432342  1.23007863  0.08201823] yaw=-121.0deg	[env.py: 1019]
+05/12 17:58:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 17:58:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 17:58:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=281.0ms, total=281.0ms	[env.py: 1075]
+05/12 17:58:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.934, 1.230, 0.082)	[env.py: 1079]
+05/12 17:58:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -121.0 deg	[env.py: 1082]
+05/12 17:58:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.072m	[env.py: 1086]
+05/12 17:58:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:58:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:58:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:58:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:58:06 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 17:58:06 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/12 17:58:06 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.55s:
+  episode_total: mean=178.95s, total=178.95s, count=1, min=178947.0ms, max=178947.0ms
+  sensor_polling: mean=408.1ms, total=122.43s, count=300, min=384.2ms, max=765.6ms
+  save_trajectories: mean=11.68s, total=11.68s, count=1, min=11684.6ms, max=11684.6ms
+  physics_step: mean=24.3ms, total=7.30s, count=300, min=16.5ms, max=59.0ms
+  save_batch_prep: mean=4.25s, total=4.25s, count=1, min=4249.0ms, max=4249.0ms
+  task_sampling: mean=554.4ms, total=554.4ms, count=1, min=554.4ms, max=554.4ms
+  task_specific_sample: mean=550.5ms, total=550.5ms, count=1, min=550.5ms, max=550.5ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=444.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=18.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 17:58:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s	[base_object_manipulation_planner_policy.py: 377]
+05/12 17:58:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 17:58:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 17:58:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 17:58:07 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 17:58:07 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_019	[save_utils.py: 785]
+05/12 17:58:07 INFO: [Worker 0] Successfully saved trajectory data for chunk_019 in 15.30s (batch: 4.17s, save: 11.13s)	[pipeline.py: 300]
+05/12 17:58:08 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.51s:
+  episode_total: mean=182.69s, total=182.69s, count=1, min=182694.1ms, max=182694.1ms
+  sensor_polling: mean=419.4ms, total=125.81s, count=300, min=393.7ms, max=937.9ms
+  save_trajectories: mean=11.13s, total=11.13s, count=1, min=11128.0ms, max=11128.0ms
+  physics_step: mean=24.1ms, total=7.22s, count=300, min=16.9ms, max=32.9ms
+  save_batch_prep: mean=4.17s, total=4.17s, count=1, min=4168.6ms, max=4168.6ms
+  task_sampling: mean=510.5ms, total=510.5ms, count=1, min=510.5ms, max=510.5ms
+  task_specific_sample: mean=506.6ms, total=506.6ms, count=1, min=506.6ms, max=506.6ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=453.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=16.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 17:58:08 WARNING: [Worker 0] No trajectory data to save for chunk_019	[pipeline.py: 234]
+05/12 17:58:08 WARNING: [Worker 0] No trajectory data to save for chunk_019	[pipeline.py: 234]
+05/12 17:58:08 INFO: [Worker 0] Worker 0 completed house 1: 14/14 successful episodes	[pipeline.py: 1323]
+05/12 17:58:08 INFO: [Worker 0] [PROFILE] House 1 complete: 14/14 successful, 14 episodes, total_time=4820.92s
+  House averages:
+  episode_total: mean=151.68s, total=2730.17s, count=18, min=4482.5ms, max=212182.9ms
+  sensor_polling: mean=406.0ms, total=1740.73s, count=4288, min=376.8ms, max=945.6ms
+  save_trajectories: mean=11.32s, total=158.43s, count=14, min=10515.3ms, max=11800.6ms
+  physics_step: mean=23.5ms, total=100.75s, count=4288, min=15.7ms, max=60.5ms
+  save_batch_prep: mean=4.46s, total=62.50s, count=14, min=3907.4ms, max=6407.1ms
+  task_sampling: mean=678.6ms, total=12.21s, count=18, min=350.2ms, max=3420.8ms
+  task_specific_sample: mean=510.9ms, total=9.20s, count=18, min=346.9ms, max=860.0ms
+  scene_load: mean=2.95s, total=2.95s, count=1, min=2952.9ms, max=2952.9ms
+  scene_env_create: mean=1.91s, total=1.91s, count=1, min=1913.7ms, max=1913.7ms
+  scene_compile: mean=873.2ms, total=873.2ms, count=1, min=873.2ms, max=873.2ms
+  compile_mujoco: mean=614.1ms, total=614.1ms, count=1, min=614.1ms, max=614.1ms
+  compile_xml_load: mean=186.2ms, total=186.2ms, count=1, min=186.2ms, max=186.2ms
+  scene_init: mean=113.5ms, total=113.5ms, count=1, min=113.5ms, max=113.5ms
+  compile_aux_objects: mean=54.1ms, total=54.1ms, count=1, min=54.1ms, max=54.1ms
+  compile_aux_policy_objects: mean=54.1ms, total=54.1ms, count=1, min=54.1ms, max=54.1ms
+  scene_asset_install: mean=52.1ms, total=52.1ms, count=1, min=52.1ms, max=52.1ms
+  scene_randomize: mean=2.1ms, total=38.5ms, count=18, min=1.0ms, max=2.5ms
+  asset_install_grasps: mean=37.6ms, total=37.6ms, count=1, min=37.6ms, max=37.6ms
+  asset_install_objects: mean=11.2ms, total=11.2ms, count=1, min=11.2ms, max=11.2ms
+  compile_robot_add: mean=8.8ms, total=8.8ms, count=1, min=8.8ms, max=8.8ms
+  mj_forward_sync: mean=455.9us, total=8.2ms, count=18, min=0.4ms, max=0.5ms
+  asset_install_scene: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms
+  policy_setup: mean=22.6us, total=0.4ms, count=18, min=0.0ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/12 17:58:08 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/12 17:58:08 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 14 episodes, total_time=4820.92s
+  Worker averages:
+  episode_total: mean=151.68s, total=2730.17s, count=18, min=4482.5ms, max=212182.9ms
+  sensor_polling: mean=406.0ms, total=1740.73s, count=4288, min=376.8ms, max=945.6ms
+  save_trajectories: mean=11.32s, total=158.43s, count=14, min=10515.3ms, max=11800.6ms
+  physics_step: mean=23.5ms, total=100.75s, count=4288, min=15.7ms, max=60.5ms
+  save_batch_prep: mean=4.46s, total=62.50s, count=14, min=3907.4ms, max=6407.1ms
+  task_sampling: mean=678.6ms, total=12.21s, count=18, min=350.2ms, max=3420.8ms
+  task_specific_sample: mean=510.9ms, total=9.20s, count=18, min=346.9ms, max=860.0ms
+  scene_load: mean=2.95s, total=2.95s, count=1, min=2952.9ms, max=2952.9ms
+  scene_env_create: mean=1.91s, total=1.91s, count=1, min=1913.7ms, max=1913.7ms
+  scene_compile: mean=873.2ms, total=873.2ms, count=1, min=873.2ms, max=873.2ms
+  compile_mujoco: mean=614.1ms, total=614.1ms, count=1, min=614.1ms, max=614.1ms
+  compile_xml_load: mean=186.2ms, total=186.2ms, count=1, min=186.2ms, max=186.2ms
+  scene_init: mean=113.5ms, total=113.5ms, count=1, min=113.5ms, max=113.5ms
+  compile_aux_objects: mean=54.1ms, total=54.1ms, count=1, min=54.1ms, max=54.1ms
+  compile_aux_policy_objects: mean=54.1ms, total=54.1ms, count=1, min=54.1ms, max=54.1ms
+  scene_asset_install: mean=52.1ms, total=52.1ms, count=1, min=52.1ms, max=52.1ms
+  scene_randomize: mean=2.1ms, total=38.5ms, count=18, min=1.0ms, max=2.5ms
+  asset_install_grasps: mean=37.6ms, total=37.6ms, count=1, min=37.6ms, max=37.6ms
+  asset_install_objects: mean=11.2ms, total=11.2ms, count=1, min=11.2ms, max=11.2ms
+  compile_robot_add: mean=8.8ms, total=8.8ms, count=1, min=8.8ms, max=8.8ms
+  mj_forward_sync: mean=455.9us, total=8.2ms, count=18, min=0.4ms, max=0.5ms
+  asset_install_scene: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms
+  policy_setup: mean=22.6us, total=0.4ms, count=18, min=0.0ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/12 17:58:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 17:58:09 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 17:58:09 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 17:58:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:58:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:58:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:58:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:58:09 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 17:58:09 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 17:58:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 17:58:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.067m, effective arm-mount z=0.927m (base_body_z=0.067m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 17:58:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 17:58:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 17:58:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.066631m	[env.py: 870]
+05/12 17:58:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 17:58:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 17:58:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 17:58:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.75423031 -0.02796593  0.06663139] yaw=133.6deg	[env.py: 1019]
+05/12 17:58:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 17:58:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 107.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:58:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 64.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:58:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 107.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:58:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.83578937  0.57459334  0.06663139] yaw=-137.6deg	[env.py: 1019]
+05/12 17:58:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 17:58:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 17:58:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=259.7ms, total=259.8ms	[env.py: 1075]
+05/12 17:58:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.754, -0.028, 0.067)	[env.py: 1079]
+05/12 17:58:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 133.6 deg	[env.py: 1082]
+05/12 17:58:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.077m	[env.py: 1086]
+05/12 17:58:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:58:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:58:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:58:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:58:10 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 17:58:10 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/12 17:58:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.118s	[base_object_manipulation_planner_policy.py: 377]
+05/12 17:58:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 17:58:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 17:58:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 17:58:11 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/12 17:58:11 INFO: Success count: 14, Total count: 14	[pipeline.py: 1491]
+05/12 17:58:11 INFO: Success rate: 100.00%	[pipeline.py: 1492]
+05/12 17:58:12 INFO: [Worker 0] Feasibility-checked 88 grasps in 5.348s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 17:58:12 INFO: [Worker 0] Feasible grasp found 47 (originally 47): w/ 0.659[m] 97.307[deg]	[grasp_sample.py: 539]
+05/12 17:58:13 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.739s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 17:58:13 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.652[m] 90.068[deg]	[grasp_sample.py: 539]
+05/12 17:58:13 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 17:58:13 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/12 17:58:14 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 17:58:14 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:58:14 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 17:58:15 WARNING: [Worker 0] No trajectory data to save for chunk_019	[pipeline.py: 234]
+05/12 17:58:15 WARNING: [Worker 0] No trajectory data to save for chunk_019	[pipeline.py: 234]
+05/12 17:58:15 INFO: [Worker 0] Worker 0 completed house 1: 9/10 successful episodes	[pipeline.py: 1323]
+05/12 17:58:15 INFO: [Worker 0] [PROFILE] House 1 complete: 9/10 successful, 10 episodes, total_time=4837.47s
+  House averages:
+  episode_total: mean=151.89s, total=2734.00s, count=18, min=6244.6ms, max=215998.4ms
+  sensor_polling: mean=434.0ms, total=1826.94s, count=4210, min=380.5ms, max=973.6ms
+  physics_step: mean=25.0ms, total=105.41s, count=4210, min=15.3ms, max=59.7ms
+  save_trajectories: mean=11.31s, total=101.80s, count=9, min=10891.9ms, max=11981.6ms
+  save_batch_prep: mean=4.17s, total=37.53s, count=9, min=3770.4ms, max=4568.4ms
+  task_sampling: mean=770.2ms, total=13.86s, count=18, min=382.3ms, max=3368.7ms
+  task_specific_sample: mean=602.9ms, total=10.85s, count=18, min=378.9ms, max=1193.9ms
+  scene_load: mean=2.93s, total=2.93s, count=1, min=2934.0ms, max=2934.0ms
+  scene_env_create: mean=1.70s, total=1.70s, count=1, min=1703.3ms, max=1703.3ms
+  scene_compile: mean=1.06s, total=1.06s, count=1, min=1061.6ms, max=1061.6ms
+  compile_mujoco: mean=802.2ms, total=802.2ms, count=1, min=802.2ms, max=802.2ms
+  compile_xml_load: mean=185.5ms, total=185.5ms, count=1, min=185.5ms, max=185.5ms
+  scene_init: mean=115.7ms, total=115.7ms, count=1, min=115.7ms, max=115.7ms
+  compile_aux_objects: mean=55.2ms, total=55.2ms, count=1, min=55.2ms, max=55.2ms
+  compile_aux_policy_objects: mean=55.2ms, total=55.2ms, count=1, min=55.2ms, max=55.2ms
+  scene_asset_install: mean=53.0ms, total=53.0ms, count=1, min=53.0ms, max=53.0ms
+  scene_randomize: mean=2.3ms, total=41.3ms, count=18, min=1.1ms, max=3.3ms
+  asset_install_grasps: mean=38.7ms, total=38.7ms, count=1, min=38.7ms, max=38.7ms
+  asset_install_objects: mean=11.0ms, total=11.0ms, count=1, min=11.0ms, max=11.0ms
+  mj_forward_sync: mean=470.4us, total=8.5ms, count=18, min=0.4ms, max=0.6ms
+  compile_robot_add: mean=8.0ms, total=8.0ms, count=1, min=8.0ms, max=8.0ms
+  asset_install_scene: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms
+  policy_setup: mean=20.2us, 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]
+05/12 17:58:15 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/12 17:58:15 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 10 episodes, total_time=4837.47s
+  Worker averages:
+  episode_total: mean=151.89s, total=2734.00s, count=18, min=6244.6ms, max=215998.4ms
+  sensor_polling: mean=434.0ms, total=1826.94s, count=4210, min=380.5ms, max=973.6ms
+  physics_step: mean=25.0ms, total=105.41s, count=4210, min=15.3ms, max=59.7ms
+  save_trajectories: mean=11.31s, total=101.80s, count=9, min=10891.9ms, max=11981.6ms
+  save_batch_prep: mean=4.17s, total=37.53s, count=9, min=3770.4ms, max=4568.4ms
+  task_sampling: mean=770.2ms, total=13.86s, count=18, min=382.3ms, max=3368.7ms
+  task_specific_sample: mean=602.9ms, total=10.85s, count=18, min=378.9ms, max=1193.9ms
+  scene_load: mean=2.93s, total=2.93s, count=1, min=2934.0ms, max=2934.0ms
+  scene_env_create: mean=1.70s, total=1.70s, count=1, min=1703.3ms, max=1703.3ms
+  scene_compile: mean=1.06s, total=1.06s, count=1, min=1061.6ms, max=1061.6ms
+  compile_mujoco: mean=802.2ms, total=802.2ms, count=1, min=802.2ms, max=802.2ms
+  compile_xml_load: mean=185.5ms, total=185.5ms, count=1, min=185.5ms, max=185.5ms
+  scene_init: mean=115.7ms, total=115.7ms, count=1, min=115.7ms, max=115.7ms
+  compile_aux_objects: mean=55.2ms, total=55.2ms, count=1, min=55.2ms, max=55.2ms
+  compile_aux_policy_objects: mean=55.2ms, total=55.2ms, count=1, min=55.2ms, max=55.2ms
+  scene_asset_install: mean=53.0ms, total=53.0ms, count=1, min=53.0ms, max=53.0ms
+  scene_randomize: mean=2.3ms, total=41.3ms, count=18, min=1.1ms, max=3.3ms
+  asset_install_grasps: mean=38.7ms, total=38.7ms, count=1, min=38.7ms, max=38.7ms
+  asset_install_objects: mean=11.0ms, total=11.0ms, count=1, min=11.0ms, max=11.0ms
+  mj_forward_sync: mean=470.4us, total=8.5ms, count=18, min=0.4ms, max=0.6ms
+  compile_robot_add: mean=8.0ms, total=8.0ms, count=1, min=8.0ms, max=8.0ms
+  asset_install_scene: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms
+  policy_setup: mean=20.2us, 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]
+05/12 17:58:17 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/12 17:58:17 INFO: Success count: 9, Total count: 10	[pipeline.py: 1491]
+05/12 17:58:17 INFO: Success rate: 90.00%	[pipeline.py: 1492]
+05/12 17:58:21 INFO: [Worker 0] Feasibility-checked 88 grasps in 67.411s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 17:58:21 INFO: [Worker 0] Feasible grasp found 93 (originally 93): w/ 0.148[m] 140.501[deg]	[grasp_sample.py: 539]
+05/12 17:58:22 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/12 17:58:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 17:58:24 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 17:58:24 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 17:58:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:58:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:58:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:58:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:58:24 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 17:58:24 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]
+05/12 17:58:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 17:58:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.069m, effective arm-mount z=0.929m (base_body_z=0.069m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 17:58:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 17:58:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 17:58:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.069250m	[env.py: 870]
+05/12 17:58:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 17:58:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 17:58:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 17:58:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 171.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:58:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -71.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:58:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -70.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:58:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 108.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 17:58:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.68835187  0.38566337  0.06925008] yaw=208.1deg	[env.py: 1019]
+05/12 17:58:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 17:58:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 17:58:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=186.5ms, total=186.6ms	[env.py: 1075]
+05/12 17:58:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.688, 0.386, 0.069)	[env.py: 1079]
+05/12 17:58:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 208.1 deg	[env.py: 1082]
+05/12 17:58:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.019m	[env.py: 1086]
+05/12 17:58:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 17:58:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 17:58:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 17:58:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 17:58:24 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 17:58:24 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/12 17:58:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.097s	[base_object_manipulation_planner_policy.py: 377]
+05/12 17:58:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 17:58:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 17:58:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 17:58:26 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.180s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 17:58:26 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.638[m] 83.919[deg]	[grasp_sample.py: 539]
+05/12 17:58:26 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 17:58:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 17:58:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:58:27 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 17:59:12 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:59:20 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 17:59:21 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:59:24 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 17:59:29 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 17:59:33 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 18:00:28 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 18:00:37 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 18:00:57 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_019	[pipeline.py: 1174]
+05/12 18:00:57 INFO: [Worker 0] Batching and saving trajectory data for chunk_019 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/12 18:00:57 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 18:01:03 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_019	[pipeline.py: 1174]
+05/12 18:01:03 INFO: [Worker 0] Batching and saving trajectory data for chunk_019 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/12 18:01:03 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 18:01:12 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 18:01:12 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_019	[save_utils.py: 785]
+05/12 18:01:12 INFO: [Worker 0] Successfully saved trajectory data for chunk_019 in 14.83s (batch: 4.27s, save: 10.56s)	[pipeline.py: 300]
+05/12 18:01:13 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=1.03s:
+  episode_total: mean=183.62s, total=183.62s, count=1, min=183623.0ms, max=183623.0ms
+  sensor_polling: mean=416.4ms, total=124.92s, count=300, min=395.2ms, max=957.5ms
+  save_trajectories: mean=10.56s, total=10.56s, count=1, min=10559.6ms, max=10559.6ms
+  physics_step: mean=23.6ms, total=7.09s, count=300, min=16.8ms, max=37.0ms
+  save_batch_prep: mean=4.27s, total=4.27s, count=1, min=4270.2ms, max=4270.2ms
+  task_sampling: mean=1.03s, total=1.03s, count=1, min=1032.9ms, max=1032.9ms
+  task_specific_sample: mean=1.03s, total=1.03s, count=1, min=1028.3ms, max=1028.3ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=600.0us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=27.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 18:01:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 18:01:14 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 18:01:14 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 18:01:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 18:01:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 18:01:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 18:01:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 18:01:14 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 18:01:14 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 18:01:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 18:01:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.004m, effective arm-mount z=0.864m (base_body_z=0.004m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 18:01:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 18:01:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 18:01:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.003859m	[env.py: 870]
+05/12 18:01:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 18:01:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 18:01:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 18:01:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.73199885  0.63646425  0.00385879] yaw=-170.5deg	[env.py: 1019]
+05/12 18:01:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 18:01:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.04882237  0.91378264  0.00385879] yaw=-174.2deg	[env.py: 1019]
+05/12 18:01:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 18:01:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -37.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 18:01:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 109.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 18:01:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 88.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 18:01:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.7602828   0.19631264  0.00385879] yaw=186.0deg	[env.py: 1019]
+05/12 18:01:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 18:01:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 18:01:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=481.2ms, total=481.2ms	[env.py: 1075]
+05/12 18:01:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.732, 0.636, 0.004)	[env.py: 1079]
+05/12 18:01:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -170.5 deg	[env.py: 1082]
+05/12 18:01:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.983m	[env.py: 1086]
+05/12 18:01:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 18:01:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 18:01:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 18:01:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 18:01:15 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 18:01:15 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/12 18:01:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.111s	[base_object_manipulation_planner_policy.py: 377]
+05/12 18:01:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 18:01:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 18:01:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 18:01:16 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.948s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 18:01:16 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.553[m] 90.167[deg]	[grasp_sample.py: 539]
+05/12 18:01:16 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 18:01:17 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 18:01:17 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 18:01:17 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 18:01:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 18:01:17 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_019	[save_utils.py: 785]
+05/12 18:01:17 INFO: [Worker 0] Successfully saved trajectory data for chunk_019 in 14.52s (batch: 3.70s, save: 10.82s)	[pipeline.py: 300]
+05/12 18:01:18 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=1.01s:
+  episode_total: mean=160.26s, total=320.51s, count=2, min=146495.2ms, max=174017.0ms
+  sensor_polling: mean=410.3ms, total=181.37s, count=442, min=382.8ms, max=997.8ms
+  save_trajectories: mean=10.82s, total=10.82s, count=1, min=10819.1ms, max=10819.1ms
+  physics_step: mean=22.6ms, total=10.00s, count=442, min=17.7ms, max=32.0ms
+  save_batch_prep: mean=3.70s, total=3.70s, count=1, min=3697.2ms, max=3697.2ms
+  task_sampling: mean=505.8ms, total=1.01s, count=2, min=456.4ms, max=555.1ms
+  task_specific_sample: mean=501.9ms, total=1.00s, count=2, min=452.7ms, max=551.2ms
+  scene_randomize: mean=2.2ms, total=4.4ms, count=2, min=1.9ms, max=2.5ms
+  mj_forward_sync: mean=456.4us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=13.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 18:01:19 WARNING: [Worker 0] No trajectory data to save for chunk_019	[pipeline.py: 234]
+05/12 18:01:19 WARNING: [Worker 0] No trajectory data to save for chunk_019	[pipeline.py: 234]
+05/12 18:01:19 INFO: [Worker 0] Worker 0 completed house 1: 10/12 successful episodes	[pipeline.py: 1323]
+05/12 18:01:19 INFO: [Worker 0] [PROFILE] House 1 complete: 10/12 successful, 12 episodes, total_time=5261.41s
+  House averages:
+  episode_total: mean=162.43s, total=2923.74s, count=18, min=4596.8ms, max=208040.5ms
+  sensor_polling: mean=425.9ms, total=2039.11s, count=4788, min=381.8ms, max=1181.7ms
+  physics_step: mean=24.6ms, total=117.56s, count=4788, min=15.0ms, max=124.4ms
+  save_trajectories: mean=11.18s, total=111.83s, count=10, min=10601.2ms, max=11882.8ms
+  save_batch_prep: mean=3.97s, total=39.67s, count=10, min=3447.8ms, max=4477.5ms
+  task_sampling: mean=694.5ms, total=12.50s, count=18, min=393.1ms, max=4059.3ms
+  task_specific_sample: mean=507.1ms, total=9.13s, count=18, min=389.5ms, max=755.2ms
+  scene_load: mean=3.30s, total=3.30s, count=1, min=3304.9ms, max=3304.9ms
+  scene_env_create: mean=2.01s, total=2.01s, count=1, min=2013.0ms, max=2013.0ms
+  scene_compile: mean=1.12s, total=1.12s, count=1, min=1119.2ms, max=1119.2ms
+  compile_mujoco: mean=667.8ms, total=667.8ms, count=1, min=667.8ms, max=667.8ms
+  compile_xml_load: mean=363.0ms, total=363.0ms, count=1, min=363.0ms, max=363.0ms
+  scene_init: mean=119.2ms, total=119.2ms, count=1, min=119.2ms, max=119.2ms
+  compile_aux_objects: mean=54.2ms, total=54.2ms, count=1, min=54.2ms, max=54.2ms
+  compile_aux_policy_objects: mean=54.2ms, total=54.2ms, count=1, min=54.2ms, max=54.2ms
+  scene_asset_install: mean=53.2ms, total=53.2ms, count=1, min=53.2ms, max=53.2ms
+  asset_install_grasps: mean=37.8ms, total=37.8ms, count=1, min=37.8ms, max=37.8ms
+  scene_randomize: mean=2.0ms, total=36.7ms, count=18, min=1.1ms, max=2.7ms
+  compile_robot_add: mean=23.5ms, total=23.5ms, count=1, min=23.5ms, max=23.5ms
+  asset_install_objects: mean=11.5ms, total=11.5ms, count=1, min=11.5ms, max=11.5ms
+  mj_forward_sync: mean=487.4us, total=8.8ms, count=18, min=0.4ms, max=0.6ms
+  asset_install_scene: mean=3.9ms, total=3.9ms, count=1, min=3.9ms, max=3.9ms
+  policy_setup: mean=19.3us, 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]
+05/12 18:01:19 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/12 18:01:19 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 12 episodes, total_time=5261.41s
+  Worker averages:
+  episode_total: mean=162.43s, total=2923.74s, count=18, min=4596.8ms, max=208040.5ms
+  sensor_polling: mean=425.9ms, total=2039.11s, count=4788, min=381.8ms, max=1181.7ms
+  physics_step: mean=24.6ms, total=117.56s, count=4788, min=15.0ms, max=124.4ms
+  save_trajectories: mean=11.18s, total=111.83s, count=10, min=10601.2ms, max=11882.8ms
+  save_batch_prep: mean=3.97s, total=39.67s, count=10, min=3447.8ms, max=4477.5ms
+  task_sampling: mean=694.5ms, total=12.50s, count=18, min=393.1ms, max=4059.3ms
+  task_specific_sample: mean=507.1ms, total=9.13s, count=18, min=389.5ms, max=755.2ms
+  scene_load: mean=3.30s, total=3.30s, count=1, min=3304.9ms, max=3304.9ms
+  scene_env_create: mean=2.01s, total=2.01s, count=1, min=2013.0ms, max=2013.0ms
+  scene_compile: mean=1.12s, total=1.12s, count=1, min=1119.2ms, max=1119.2ms
+  compile_mujoco: mean=667.8ms, total=667.8ms, count=1, min=667.8ms, max=667.8ms
+  compile_xml_load: mean=363.0ms, total=363.0ms, count=1, min=363.0ms, max=363.0ms
+  scene_init: mean=119.2ms, total=119.2ms, count=1, min=119.2ms, max=119.2ms
+  compile_aux_objects: mean=54.2ms, total=54.2ms, count=1, min=54.2ms, max=54.2ms
+  compile_aux_policy_objects: mean=54.2ms, total=54.2ms, count=1, min=54.2ms, max=54.2ms
+  scene_asset_install: mean=53.2ms, total=53.2ms, count=1, min=53.2ms, max=53.2ms
+  asset_install_grasps: mean=37.8ms, total=37.8ms, count=1, min=37.8ms, max=37.8ms
+  scene_randomize: mean=2.0ms, total=36.7ms, count=18, min=1.1ms, max=2.7ms
+  compile_robot_add: mean=23.5ms, total=23.5ms, count=1, min=23.5ms, max=23.5ms
+  asset_install_objects: mean=11.5ms, total=11.5ms, count=1, min=11.5ms, max=11.5ms
+  mj_forward_sync: mean=487.4us, total=8.8ms, count=18, min=0.4ms, max=0.6ms
+  asset_install_scene: mean=3.9ms, total=3.9ms, count=1, min=3.9ms, max=3.9ms
+  policy_setup: mean=19.3us, 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]
+05/12 18:01:22 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/12 18:01:22 INFO: Success count: 10, Total count: 12	[pipeline.py: 1491]
+05/12 18:01:22 INFO: Success rate: 83.33%	[pipeline.py: 1492]
+05/12 18:02:04 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 18:02:13 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 18:02:17 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 18:03:34 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 18:04:02 INFO: [Worker 0] Saved videos eagerly for episode 13 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_019	[pipeline.py: 1174]
+05/12 18:04:02 INFO: [Worker 0] Batching and saving trajectory data for chunk_019 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/12 18:04:02 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 18:04:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 18:04:17 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_019	[save_utils.py: 785]
+05/12 18:04:17 INFO: [Worker 0] Successfully saved trajectory data for chunk_019 in 14.79s (batch: 4.19s, save: 10.60s)	[pipeline.py: 300]
+05/12 18:04:17 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.81s:
+  episode_total: mean=183.15s, total=183.15s, count=1, min=183146.3ms, max=183146.3ms
+  sensor_polling: mean=425.7ms, total=127.71s, count=300, min=364.5ms, max=935.9ms
+  save_trajectories: mean=10.60s, total=10.60s, count=1, min=10599.2ms, max=10599.2ms
+  physics_step: mean=23.8ms, total=7.14s, count=300, min=16.6ms, max=31.6ms
+  save_batch_prep: mean=4.19s, total=4.19s, count=1, min=4189.1ms, max=4189.1ms
+  task_sampling: mean=811.6ms, total=811.6ms, count=1, min=811.6ms, max=811.6ms
+  task_specific_sample: mean=807.0ms, total=807.0ms, count=1, min=807.0ms, max=807.0ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=457.5us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=16.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 18:04:19 WARNING: [Worker 0] No trajectory data to save for chunk_019	[pipeline.py: 234]
+05/12 18:04:19 WARNING: [Worker 0] No trajectory data to save for chunk_019	[pipeline.py: 234]
+05/12 18:04:19 INFO: [Worker 0] Worker 0 completed house 1: 14/14 successful episodes	[pipeline.py: 1323]
+05/12 18:04:19 INFO: [Worker 0] [PROFILE] House 1 complete: 14/14 successful, 14 episodes, total_time=5545.34s
+  House averages:
+  episode_total: mean=172.38s, total=3102.75s, count=18, min=4603.7ms, max=228576.7ms
+  sensor_polling: mean=431.2ms, total=2074.73s, count=4812, min=364.5ms, max=968.9ms
+  save_trajectories: mean=11.01s, total=154.20s, count=14, min=10559.6ms, max=11443.6ms
+  physics_step: mean=24.9ms, total=119.91s, count=4812, min=16.6ms, max=85.6ms
+  save_batch_prep: mean=4.33s, total=60.65s, count=14, min=3956.2ms, max=5486.4ms
+  task_sampling: mean=787.3ms, total=14.17s, count=18, min=411.7ms, max=4105.6ms
+  task_specific_sample: mean=591.0ms, total=10.64s, count=18, min=407.7ms, max=1028.3ms
+  scene_load: mean=3.45s, total=3.45s, count=1, min=3454.5ms, max=3454.5ms
+  scene_env_create: mean=2.06s, total=2.06s, count=1, min=2061.5ms, max=2061.5ms
+  scene_compile: mean=1.22s, total=1.22s, count=1, min=1223.0ms, max=1223.0ms
+  compile_mujoco: mean=665.7ms, total=665.7ms, count=1, min=665.7ms, max=665.7ms
+  compile_xml_load: mean=469.4ms, total=469.4ms, count=1, min=469.4ms, max=469.4ms
+  scene_init: mean=117.9ms, total=117.9ms, count=1, min=117.9ms, max=117.9ms
+  compile_aux_objects: mean=53.8ms, total=53.8ms, count=1, min=53.8ms, max=53.8ms
+  compile_aux_policy_objects: mean=53.8ms, total=53.8ms, count=1, min=53.8ms, max=53.8ms
+  scene_asset_install: mean=51.9ms, total=51.9ms, count=1, min=51.9ms, max=51.9ms
+  scene_randomize: mean=2.5ms, total=45.6ms, count=18, min=1.4ms, max=3.7ms
+  asset_install_grasps: mean=37.2ms, total=37.2ms, count=1, min=37.2ms, max=37.2ms
+  compile_robot_add: mean=23.3ms, total=23.3ms, count=1, min=23.3ms, max=23.3ms
+  asset_install_objects: mean=11.2ms, total=11.2ms, count=1, min=11.2ms, max=11.2ms
+  mj_forward_sync: mean=477.1us, total=8.6ms, count=18, min=0.5ms, max=0.6ms
+  asset_install_scene: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms
+  policy_setup: mean=21.2us, 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]
+05/12 18:04:19 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/12 18:04:19 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 14 episodes, total_time=5545.34s
+  Worker averages:
+  episode_total: mean=172.38s, total=3102.75s, count=18, min=4603.7ms, max=228576.7ms
+  sensor_polling: mean=431.2ms, total=2074.73s, count=4812, min=364.5ms, max=968.9ms
+  save_trajectories: mean=11.01s, total=154.20s, count=14, min=10559.6ms, max=11443.6ms
+  physics_step: mean=24.9ms, total=119.91s, count=4812, min=16.6ms, max=85.6ms
+  save_batch_prep: mean=4.33s, total=60.65s, count=14, min=3956.2ms, max=5486.4ms
+  task_sampling: mean=787.3ms, total=14.17s, count=18, min=411.7ms, max=4105.6ms
+  task_specific_sample: mean=591.0ms, total=10.64s, count=18, min=407.7ms, max=1028.3ms
+  scene_load: mean=3.45s, total=3.45s, count=1, min=3454.5ms, max=3454.5ms
+  scene_env_create: mean=2.06s, total=2.06s, count=1, min=2061.5ms, max=2061.5ms
+  scene_compile: mean=1.22s, total=1.22s, count=1, min=1223.0ms, max=1223.0ms
+  compile_mujoco: mean=665.7ms, total=665.7ms, count=1, min=665.7ms, max=665.7ms
+  compile_xml_load: mean=469.4ms, total=469.4ms, count=1, min=469.4ms, max=469.4ms
+  scene_init: mean=117.9ms, total=117.9ms, count=1, min=117.9ms, max=117.9ms
+  compile_aux_objects: mean=53.8ms, total=53.8ms, count=1, min=53.8ms, max=53.8ms
+  compile_aux_policy_objects: mean=53.8ms, total=53.8ms, count=1, min=53.8ms, max=53.8ms
+  scene_asset_install: mean=51.9ms, total=51.9ms, count=1, min=51.9ms, max=51.9ms
+  scene_randomize: mean=2.5ms, total=45.6ms, count=18, min=1.4ms, max=3.7ms
+  asset_install_grasps: mean=37.2ms, total=37.2ms, count=1, min=37.2ms, max=37.2ms
+  compile_robot_add: mean=23.3ms, total=23.3ms, count=1, min=23.3ms, max=23.3ms
+  asset_install_objects: mean=11.2ms, total=11.2ms, count=1, min=11.2ms, max=11.2ms
+  mj_forward_sync: mean=477.1us, total=8.6ms, count=18, min=0.5ms, max=0.6ms
+  asset_install_scene: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms
+  policy_setup: mean=21.2us, 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]
+05/12 18:04:22 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/12 18:04:22 INFO: Success count: 14, Total count: 14	[pipeline.py: 1491]
+05/12 18:04:22 INFO: Success rate: 100.00%	[pipeline.py: 1492]
diff --git a/fridge_m_0.7_pd/chunk_019/trajectories_batch_1_of_4_cam_rand.h5 b/fridge_m_0.7_pd/chunk_019/trajectories_batch_1_of_4_cam_rand.h5
new file mode 100644
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--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_019/trajectories_batch_1_of_4_cam_rand.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bff5e3989b628cac7fa175b65dbdac1ca5c2afcfaa66072741e760a4c30db010
+size 1014446105
diff --git a/fridge_m_0.7_pd/chunk_019/trajectories_batch_2_of_4_cam_rand.h5 b/fridge_m_0.7_pd/chunk_019/trajectories_batch_2_of_4_cam_rand.h5
new file mode 100644
index 0000000000000000000000000000000000000000..337c67c87f3a3cdc3f5ef1f3a1fc9a6b814115c9
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_019/trajectories_batch_2_of_4_cam_rand.h5
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