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+05/15 01:07:47 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/15 01:07:47 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/15 01:07:47 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/15 01:07:47 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',
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+                                'name': 'exo_camera_1',
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+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
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+                                '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',
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+ 'data_split': 'train',
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+ 'end_on_success': False,
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+                         'episode_idx': None},
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+ 'output_dir': PosixPath('/scr/ravenh/fridge_m_v2/sim_chunks/chunk_006'),
+ 'output_suffix': '_cam_rand',
+ 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
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+ 'policy_dt_ms': 66.0,
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+                                          '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},
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+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
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+                                                    0.4,
+                                                    0.4,
+                                                    0.4,
+                                                    0.4,
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+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
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+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_m',
+ 'seed': 20602,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
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+                 'articulation_object_name': None,
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+                 'use_sensors': True},
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+                         'absolute_robot_base_z_jitter_range': (-0.1, 0.1),
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+                         'added_pickup_class_rank': None,
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+                         'dataset_name': 'procthor-10k',
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+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.5,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 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]
+05/15 01:07:47 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/15 01:07:47 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/15 01:07:47 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/15 01:07:47 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/15 01:07:47 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/15 01:07:47 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/15 01:07:47 INFO: {'batch_num': 3,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_m_v2/sim_chunks/chunk_006'),
+ '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 0x7c0913b68550>,
+ 'robot_config': {'K_damping': [793.0831592413665,
+                                241.62769618042807,
+                                300.12442783719814,
+                                440.9812092338339,
+                                500.000000000004,
+                                311.89516163317654,
+                                500.000000000004],
+                  'K_stiffness': [5132.972657172051,
+                                  1060.4599870990814,
+                                  1814.2516466742627,
+                                  2282.7973699783515,
+                                  2963.6502662461776,
+                                  1843.22950428842,
+                                  2505.657053829795],
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.4,
+                                                    0.4,
+                                                    0.4,
+                                                    0.4,
+                                                    0.4,
+                                                    0.4,
+                                                    0.4]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_m',
+ 'seed': 20603,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (-0.1, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.8, 1.2),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 1.0),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.5,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 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]
+05/15 01:07:47 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/15 01:07:47 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/15 01:07:47 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/15 01:07:47 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/15 01:07:47 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/15 01:07:47 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/15 01:07:47 INFO: {'batch_num': 1,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_m_v2/sim_chunks/chunk_006'),
+ '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 0x78904c3c2c90>,
+ 'robot_config': {'K_damping': [793.0831592413665,
+                                241.62769618042807,
+                                300.12442783719814,
+                                440.9812092338339,
+                                500.000000000004,
+                                311.89516163317654,
+                                500.000000000004],
+                  'K_stiffness': [5132.972657172051,
+                                  1060.4599870990814,
+                                  1814.2516466742627,
+                                  2282.7973699783515,
+                                  2963.6502662461776,
+                                  1843.22950428842,
+                                  2505.657053829795],
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.4,
+                                                    0.4,
+                                                    0.4,
+                                                    0.4,
+                                                    0.4,
+                                                    0.4,
+                                                    0.4]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_m',
+ 'seed': 20601,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (-0.1, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.8, 1.2),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 1.0),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.5,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 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]
+05/15 01:07:47 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/15 01:07:47 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/15 01:07:47 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/15 01:07:47 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/15 01:07:47 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/15 01:07:47 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/15 01:07:47 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_v2/sim_chunks/chunk_006'),
+ '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 0x7854a58f16d0>,
+ 'robot_config': {'K_damping': [793.0831592413665,
+                                241.62769618042807,
+                                300.12442783719814,
+                                440.9812092338339,
+                                500.000000000004,
+                                311.89516163317654,
+                                500.000000000004],
+                  'K_stiffness': [5132.972657172051,
+                                  1060.4599870990814,
+                                  1814.2516466742627,
+                                  2282.7973699783515,
+                                  2963.6502662461776,
+                                  1843.22950428842,
+                                  2505.657053829795],
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.4,
+                                                    0.4,
+                                                    0.4,
+                                                    0.4,
+                                                    0.4,
+                                                    0.4,
+                                                    0.4]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_m',
+ 'seed': 20604,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (-0.1, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.8, 1.2),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 1.0),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.5,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 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]
+05/15 01:07:47 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/15 01:07:47 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/15 01:07:47 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/15 01:07:47 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/15 01:07:47 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/15 01:07:47 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/15 01:07:48 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/15 01:07:50 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/15 01:07:50 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/15 01:07:50 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/15 01:07:50 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/15 01:07:50 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 01:07:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 01:07:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:07:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:07:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:07:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:07:50 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 01:07:50 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 01:07:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 01:07:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.008m, effective arm-mount z=0.868m (base_body_z=0.008m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 01:07:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 01:07:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 01:07:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.007967m	[env.py: 870]
+05/15 01:07:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 01:07:50 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/15 01:07:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 01:07:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.13535436 -1.21433257  0.00796651] yaw=149.6deg	[env.py: 1019]
+05/15 01:07:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 01:07:50 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/15 01:07:50 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/15 01:07:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.00096362 -0.34591371  0.00796651] yaw=-148.5deg	[env.py: 1019]
+05/15 01:07:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 01:07:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.00746225 -0.89064994  0.00796651] yaw=179.0deg	[env.py: 1019]
+05/15 01:07:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 01:07:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 01:07:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=21.0ms, retries=105.3ms, total=126.3ms	[env.py: 1075]
+05/15 01:07:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.135, -1.214, 0.008)	[env.py: 1079]
+05/15 01:07:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 149.6 deg	[env.py: 1082]
+05/15 01:07:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.020m	[env.py: 1086]
+05/15 01:07:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:07:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:07:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:07:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:07:51 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/15 01:07:51 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/15 01:07:51 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 01:07:51 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 01:07:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:07:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:07:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:07:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:07:51 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 01:07:51 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 01:07:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 01:07:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.040m, effective arm-mount z=0.820m (base_body_z=-0.040m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 01:07:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 01:07:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 01:07:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.039875m	[env.py: 870]
+05/15 01:07:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 01:07:51 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/15 01:07:51 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/15 01:07:51 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/15 01:07:51 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/15 01:07:51 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/15 01:07:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 01:07:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 114.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:07:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -38.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:07:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.12358371 -0.88675364 -0.03987522] yaw=167.8deg	[env.py: 1019]
+05/15 01:07:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 01:07:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -158.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:07:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 144.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:07:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.05626585 -1.11944303 -0.03987522] yaw=162.2deg	[env.py: 1019]
+05/15 01:07:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 01:07:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.24152251 -0.86965656 -0.03987522] yaw=193.4deg	[env.py: 1019]
+05/15 01:07:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 01:07:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 01:07:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=21.4ms, retries=156.0ms, total=177.4ms	[env.py: 1075]
+05/15 01:07:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.124, -0.887, -0.040)	[env.py: 1079]
+05/15 01:07:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 167.8 deg	[env.py: 1082]
+05/15 01:07:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.953m	[env.py: 1086]
+05/15 01:07:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:07:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:07:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:07:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:07:51 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/15 01:07:51 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/15 01:07:51 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 01:07:51 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 01:07:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:07:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:07:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:07:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:07:51 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 01:07:51 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 01:07:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 01:07:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.001m, effective arm-mount z=0.859m (base_body_z=-0.001m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 01:07:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 01:07:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 01:07:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.000809m	[env.py: 870]
+05/15 01:07:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 01:07:51 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/15 01:07:51 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/15 01:07:51 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/15 01:07:51 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 01:07:51 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 01:07:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:07:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:07:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:07:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:07:51 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 01:07:51 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/15 01:07:51 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 01:07:51 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 01:07:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 01:07:51 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: 273]
+05/15 01:07:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 01:07:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 01:07:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.088737m	[env.py: 870]
+05/15 01:07:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 01:07:51 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/15 01:07:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 01:07:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 76.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:07:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 96.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:07:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.24828401e-01 -8.70477516e-01 -8.08655728e-04] yaw=148.3deg	[env.py: 1019]
+05/15 01:07:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 01:07:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 01:07:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -162.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:07:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 117.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:07:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.0994847  -0.33751236 -0.00080866] yaw=-139.3deg	[env.py: 1019]
+05/15 01:07:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 01:07:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.19535889 -0.31516758  0.08873725] yaw=-162.7deg	[env.py: 1019]
+05/15 01:07:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 01:07:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.32934744 -0.37295869 -0.00080866] yaw=-132.9deg	[env.py: 1019]
+05/15 01:07:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 01:07:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 01:07:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=28.0ms, retries=250.0ms, total=277.9ms	[env.py: 1075]
+05/15 01:07:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.125, -0.870, -0.001)	[env.py: 1079]
+05/15 01:07:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 148.3 deg	[env.py: 1082]
+05/15 01:07:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.951m	[env.py: 1086]
+05/15 01:07:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:07:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:07:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:07:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:07:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.11002982 -1.21942632  0.08873725] yaw=169.7deg	[env.py: 1019]
+05/15 01:07:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 01:07:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 106.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:07:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.28193779 -0.59375767  0.08873725] yaw=-156.6deg	[env.py: 1019]
+05/15 01:07:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 01:07:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 01:07:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=26.9ms, retries=328.9ms, total=355.8ms	[env.py: 1075]
+05/15 01:07:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.195, -0.315, 0.089)	[env.py: 1079]
+05/15 01:07:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -162.7 deg	[env.py: 1082]
+05/15 01:07:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.012m	[env.py: 1086]
+05/15 01:07:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:07:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:07:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:07:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:07:51 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 01:07:51 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/15 01:07:51 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 01:07:51 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/15 01:07:51 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 01:07:51 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/15 01:08:25 INFO: [Worker 0] Warmed up parallel IK solver in 34.383s	[base_object_manipulation_planner_policy.py: 377]
+05/15 01:08:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 01:08:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 01:08:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 01:08:26 INFO: [Worker 0] Warmed up parallel IK solver in 34.722s	[base_object_manipulation_planner_policy.py: 377]
+05/15 01:08:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 01:08:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 01:08:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.092s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 01:08:26 INFO: [Worker 0] Warmed up parallel IK solver in 34.918s	[base_object_manipulation_planner_policy.py: 377]
+05/15 01:08:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 01:08:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 01:08:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 01:08:27 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.918s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 01:08:27 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.624[m] 107.838[deg]	[grasp_sample.py: 539]
+05/15 01:08:27 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 01:08:27 INFO: [Worker 0] Warmed up parallel IK solver in 36.061s	[base_object_manipulation_planner_policy.py: 377]
+05/15 01:08:27 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]
+05/15 01:08:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 01:08:27 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 01:08:27 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:08:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 01:08:28 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 01:08:28 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.945s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 01:08:28 INFO: [Worker 0] Feasible grasp found 105 (originally 105): w/ 0.561[m] 63.539[deg]	[grasp_sample.py: 539]
+05/15 01:08:28 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 01:08:29 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 01:08:29 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:08:29 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.500s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 01:08:29 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.787[m] 79.874[deg]	[grasp_sample.py: 539]
+05/15 01:08:29 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 01:08:29 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 01:08:29 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.945s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 01:08:29 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.641[m] 103.239[deg]	[grasp_sample.py: 539]
+05/15 01:08:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 01:08:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:08:30 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 01:08:30 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 01:08:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 01:08:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:08:30 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 01:09:17 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:09:24 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:09:26 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 01:09:26 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:09:30 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:09:33 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 01:09:35 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 01:09:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:09:39 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:09:43 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:09:53 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 01:09:58 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:10:38 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 01:10:46 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 01:10:48 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 01:11:00 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 01:11:07 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/15 01:11:07 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/15 01:11:07 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 01:11:14 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/15 01:11:14 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/15 01:11:14 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 01:11:17 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/15 01:11:17 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/15 01:11:17 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 01:11:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 01:11:23 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_006	[save_utils.py: 785]
+05/15 01:11:23 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 16.27s (batch: 4.52s, save: 11.75s)	[pipeline.py: 300]
+05/15 01:11:24 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=4.27s:
+  episode_total: mean=216.57s, total=216.57s, count=1, min=216573.6ms, max=216573.6ms
+  sensor_polling: mean=395.5ms, total=118.64s, count=300, min=371.9ms, max=742.9ms
+  save_trajectories: mean=11.75s, total=11.75s, count=1, min=11754.5ms, max=11754.5ms
+  physics_step: mean=23.2ms, total=6.96s, count=300, min=17.2ms, max=33.6ms
+  save_batch_prep: mean=4.52s, total=4.52s, count=1, min=4519.9ms, max=4519.9ms
+  task_sampling: mean=4.27s, total=4.27s, count=1, min=4266.5ms, max=4266.5ms
+  scene_load: mean=3.55s, total=3.55s, count=1, min=3549.8ms, max=3549.8ms
+  scene_env_create: mean=2.12s, total=2.12s, count=1, min=2116.8ms, max=2116.8ms
+  scene_compile: mean=1.14s, total=1.14s, count=1, min=1139.8ms, max=1139.8ms
+  compile_mujoco: mean=842.3ms, total=842.3ms, count=1, min=842.3ms, max=842.3ms
+  task_specific_sample: mean=713.3ms, total=713.3ms, count=1, min=713.3ms, max=713.3ms
+  scene_init: mean=220.4ms, total=220.4ms, count=1, min=220.4ms, max=220.4ms
+  compile_xml_load: mean=199.6ms, total=199.6ms, count=1, min=199.6ms, max=199.6ms
+  scene_asset_install: mean=72.5ms, total=72.5ms, count=1, min=72.5ms, max=72.5ms
+  compile_aux_objects: mean=71.6ms, total=71.6ms, count=1, min=71.6ms, max=71.6ms
+  compile_aux_policy_objects: mean=71.6ms, total=71.6ms, count=1, min=71.6ms, max=71.6ms
+  asset_install_grasps: mean=50.3ms, total=50.3ms, count=1, min=50.3ms, max=50.3ms
+  asset_install_objects: mean=16.5ms, total=16.5ms, count=1, min=16.5ms, max=16.5ms
+  compile_robot_add: mean=13.8ms, total=13.8ms, count=1, min=13.8ms, max=13.8ms
+  asset_install_scene: mean=5.6ms, total=5.6ms, count=1, min=5.6ms, max=5.6ms
+  scene_randomize: mean=1.5ms, total=1.5ms, count=1, min=1.5ms, max=1.5ms
+  mj_forward_sync: mean=609.7us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=51.4us, total=0.1ms, count=1, min=0.1ms, max=0.1ms	[profiler_utils.py: 380]
+05/15 01:11:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 01:11:25 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 01:11:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 01:11:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:11:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:11:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:11:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:11:25 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 01:11:25 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 01:11:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 01:11:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.031m, effective arm-mount z=0.829m (base_body_z=-0.031m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 01:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 01:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 01:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.030739m	[env.py: 870]
+05/15 01:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 01:11:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 01:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 01:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 125.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 72.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 111.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.0088567  -0.31049808 -0.03073917] yaw=-182.7deg	[env.py: 1019]
+05/15 01:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 01:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 132.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.06583387 -1.16194777 -0.03073917] yaw=155.5deg	[env.py: 1019]
+05/15 01:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 01:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 01:11:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=262.2ms, total=262.2ms	[env.py: 1075]
+05/15 01:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.009, -0.310, -0.031)	[env.py: 1079]
+05/15 01:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -182.7 deg	[env.py: 1082]
+05/15 01:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.179m	[env.py: 1086]
+05/15 01:11:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:11:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:11:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:11:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:11:26 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 01:11:26 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/15 01:11:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.100s	[base_object_manipulation_planner_policy.py: 377]
+05/15 01:11:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 01:11:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 01:11:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 01:11:28 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/15 01:11:28 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/15 01:11:28 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 01:11:28 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.569s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 01:11:28 ERROR: [Worker 0] Worker 0 house 1 episode 1 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 01:11:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 01:11:30 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 01:11:30 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 01:11:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:11:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:11:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:11:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:11:30 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 01:11:30 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 01:11:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 01:11:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.062m, effective arm-mount z=0.922m (base_body_z=0.062m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 01:11:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 01:11:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 01:11:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.062126m	[env.py: 870]
+05/15 01:11:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 01:11:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 01:11:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 01:11:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 150.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:11:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -79.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:11:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.41003511 -0.33754268  0.06212556] yaw=-125.0deg	[env.py: 1019]
+05/15 01:11:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 01:11:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -56.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:11:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 87.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:11:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.03218597 -0.73821997  0.06212556] yaw=-193.6deg	[env.py: 1019]
+05/15 01:11:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 01:11:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 01:11:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=194.3ms, total=194.3ms	[env.py: 1075]
+05/15 01:11:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.410, -0.338, 0.062)	[env.py: 1079]
+05/15 01:11:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -125.0 deg	[env.py: 1082]
+05/15 01:11:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.819m	[env.py: 1086]
+05/15 01:11:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:11:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:11:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:11:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:11:30 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 01:11:30 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/15 01:11:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s	[base_object_manipulation_planner_policy.py: 377]
+05/15 01:11:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 01:11:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 01:11:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 01:11:31 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.905s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 01:11:31 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.543[m] 129.999[deg]	[grasp_sample.py: 539]
+05/15 01:11:31 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 01:11:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 01:11:31 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_006	[save_utils.py: 785]
+05/15 01:11:31 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 17.07s (batch: 4.82s, save: 12.24s)	[pipeline.py: 300]
+05/15 01:11:32 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 01:11:32 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:11:32 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 01:11:32 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=4.15s:
+  episode_total: mean=225.69s, total=225.69s, count=1, min=225694.3ms, max=225694.3ms
+  sensor_polling: mean=428.7ms, total=128.62s, count=300, min=384.9ms, max=740.0ms
+  save_trajectories: mean=12.24s, total=12.24s, count=1, min=12244.3ms, max=12244.3ms
+  physics_step: mean=22.6ms, total=6.78s, count=300, min=17.4ms, max=33.8ms
+  save_batch_prep: mean=4.82s, total=4.82s, count=1, min=4823.3ms, max=4823.3ms
+  task_sampling: mean=4.15s, total=4.15s, count=1, min=4153.9ms, max=4153.9ms
+  scene_load: mean=3.68s, total=3.68s, count=1, min=3681.5ms, max=3681.5ms
+  scene_env_create: mean=2.01s, total=2.01s, count=1, min=2007.0ms, max=2007.0ms
+  scene_compile: mean=1.48s, total=1.48s, count=1, min=1484.9ms, max=1484.9ms
+  compile_mujoco: mean=731.2ms, total=731.2ms, count=1, min=731.2ms, max=731.2ms
+  compile_xml_load: mean=633.3ms, total=633.3ms, count=1, min=633.3ms, max=633.3ms
+  task_specific_sample: mean=469.4ms, total=469.4ms, count=1, min=469.4ms, max=469.4ms
+  scene_init: mean=118.1ms, total=118.1ms, count=1, min=118.1ms, max=118.1ms
+  scene_asset_install: mean=71.1ms, total=71.1ms, count=1, min=71.1ms, max=71.1ms
+  compile_aux_objects: mean=64.9ms, total=64.9ms, count=1, min=64.9ms, max=64.9ms
+  compile_aux_policy_objects: mean=64.9ms, total=64.9ms, count=1, min=64.9ms, max=64.9ms
+  asset_install_grasps: mean=50.5ms, total=50.5ms, count=1, min=50.5ms, max=50.5ms
+  compile_robot_add: mean=40.4ms, total=40.4ms, count=1, min=40.4ms, max=40.4ms
+  asset_install_objects: mean=15.1ms, total=15.1ms, count=1, min=15.1ms, max=15.1ms
+  asset_install_scene: mean=5.5ms, total=5.5ms, count=1, min=5.5ms, max=5.5ms
+  scene_randomize: mean=1.3ms, total=1.3ms, count=1, min=1.3ms, max=1.3ms
+  mj_forward_sync: mean=445.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=50.2us, total=0.1ms, count=1, min=0.1ms, max=0.1ms	[profiler_utils.py: 380]
+05/15 01:11:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 01:11:34 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 01:11:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 01:11:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:11:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:11:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:11:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:11:34 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 01:11:34 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 01:11:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 01:11:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.031m, effective arm-mount z=0.829m (base_body_z=-0.031m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 01:11:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 01:11:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 01:11:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.030656m	[env.py: 870]
+05/15 01:11:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 01:11:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 01:11:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 01:11:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 175.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:11:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 119.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:11:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 84.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:11:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -71.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:11:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 148.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:11:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.21120947 -1.23265439 -0.03065587] yaw=155.7deg	[env.py: 1019]
+05/15 01:11:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 01:11:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 01:11:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=200.3ms, total=200.3ms	[env.py: 1075]
+05/15 01:11:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.211, -1.233, -0.031)	[env.py: 1079]
+05/15 01:11:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 155.7 deg	[env.py: 1082]
+05/15 01:11:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.958m	[env.py: 1086]
+05/15 01:11:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:11:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:11:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:11:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:11:34 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 01:11:34 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/15 01:11:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.112s	[base_object_manipulation_planner_policy.py: 377]
+05/15 01:11:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 01:11:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 01:11:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 01:11:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 01:11:35 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_006	[save_utils.py: 785]
+05/15 01:11:35 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 18.54s (batch: 6.58s, save: 11.96s)	[pipeline.py: 300]
+05/15 01:11:36 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=4.67s:
+  episode_total: mean=229.72s, total=229.72s, count=1, min=229717.9ms, max=229717.9ms
+  sensor_polling: mean=425.2ms, total=127.55s, count=300, min=404.9ms, max=772.9ms
+  save_trajectories: mean=11.96s, total=11.96s, count=1, min=11963.6ms, max=11963.6ms
+  physics_step: mean=23.2ms, total=6.96s, count=300, min=19.0ms, max=29.5ms
+  save_batch_prep: mean=6.58s, total=6.58s, count=1, min=6576.1ms, max=6576.1ms
+  task_sampling: mean=4.67s, total=4.67s, count=1, min=4665.3ms, max=4665.3ms
+  scene_load: mean=4.01s, total=4.01s, count=1, min=4010.1ms, max=4010.1ms
+  scene_env_create: mean=2.14s, total=2.14s, count=1, min=2136.5ms, max=2136.5ms
+  scene_compile: mean=1.68s, total=1.68s, count=1, min=1679.2ms, max=1679.2ms
+  compile_mujoco: mean=811.3ms, total=811.3ms, count=1, min=811.3ms, max=811.3ms
+  compile_xml_load: mean=747.1ms, total=747.1ms, count=1, min=747.1ms, max=747.1ms
+  task_specific_sample: mean=651.8ms, total=651.8ms, count=1, min=651.8ms, max=651.8ms
+  scene_init: mean=122.0ms, total=122.0ms, count=1, min=122.0ms, max=122.0ms
+  scene_asset_install: mean=71.9ms, total=71.9ms, count=1, min=71.9ms, max=71.9ms
+  compile_aux_objects: mean=65.7ms, total=65.7ms, count=1, min=65.7ms, max=65.7ms
+  compile_aux_policy_objects: mean=65.7ms, total=65.7ms, count=1, min=65.7ms, max=65.7ms
+  asset_install_grasps: mean=48.6ms, total=48.6ms, count=1, min=48.6ms, max=48.6ms
+  compile_robot_add: mean=40.4ms, total=40.4ms, count=1, min=40.4ms, max=40.4ms
+  asset_install_objects: mean=16.7ms, total=16.7ms, count=1, min=16.7ms, max=16.7ms
+  asset_install_scene: mean=6.6ms, total=6.6ms, count=1, min=6.6ms, max=6.6ms
+  scene_randomize: mean=1.1ms, total=1.1ms, count=1, min=1.1ms, max=1.1ms
+  mj_forward_sync: mean=453.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=58.8us, total=0.1ms, count=1, min=0.1ms, max=0.1ms	[profiler_utils.py: 380]
+05/15 01:11:37 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.642s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 01:11:37 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.509[m] 76.116[deg]	[grasp_sample.py: 539]
+05/15 01:11:37 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 01:11:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 01:11:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:11:38 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 01:11:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 01:11:39 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 01:11:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 01:11:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:11:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:11:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:11:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:11:39 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 01:11:39 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: 195]
+05/15 01:11:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 01:11:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.093m, effective arm-mount z=0.767m (base_body_z=-0.093m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 01:11:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 01:11:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 01:11:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.092698m	[env.py: 870]
+05/15 01:11:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 01:11:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 01:11:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 01:11:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -42.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:11:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.33689797 -0.38794222 -0.09269791] yaw=-135.2deg	[env.py: 1019]
+05/15 01:11:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 01:11:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.17653652 -0.38185728 -0.09269791] yaw=-136.5deg	[env.py: 1019]
+05/15 01:11:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 01:11:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.58070375 -0.13347866 -0.09269791] yaw=-109.0deg	[env.py: 1019]
+05/15 01:11:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 01:11:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 01:11:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=106.1ms, total=106.1ms	[env.py: 1075]
+05/15 01:11:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.337, -0.388, -0.093)	[env.py: 1079]
+05/15 01:11:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -135.2 deg	[env.py: 1082]
+05/15 01:11:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.853m	[env.py: 1086]
+05/15 01:11:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:11:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:11:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:11:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:11:39 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 01:11:39 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/15 01:11:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.122s	[base_object_manipulation_planner_policy.py: 377]
+05/15 01:11:39 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]
+05/15 01:11:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 01:11:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.086s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 01:11:40 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.958s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 01:11:40 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.703[m] 126.718[deg]	[grasp_sample.py: 539]
+05/15 01:11:40 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 01:11:41 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 01:11:41 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:11:41 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 01:11:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 01:11:45 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_006	[save_utils.py: 785]
+05/15 01:11:45 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 17.35s (batch: 4.49s, save: 12.87s)	[pipeline.py: 300]
+05/15 01:11:46 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=4.64s:
+  episode_total: mean=239.01s, total=239.01s, count=1, min=239007.3ms, max=239007.3ms
+  sensor_polling: mean=468.9ms, total=140.67s, count=300, min=398.8ms, max=799.6ms
+  save_trajectories: mean=12.87s, total=12.87s, count=1, min=12865.6ms, max=12865.6ms
+  physics_step: mean=26.3ms, total=7.89s, count=300, min=17.2ms, max=36.1ms
+  task_sampling: mean=4.64s, total=4.64s, count=1, min=4636.5ms, max=4636.5ms
+  save_batch_prep: mean=4.49s, total=4.49s, count=1, min=4485.7ms, max=4485.7ms
+  scene_load: mean=3.99s, total=3.99s, count=1, min=3988.8ms, max=3988.8ms
+  scene_env_create: mean=2.18s, total=2.18s, count=1, min=2176.4ms, max=2176.4ms
+  scene_compile: mean=1.59s, total=1.59s, count=1, min=1589.8ms, max=1589.8ms
+  compile_mujoco: mean=932.7ms, total=932.7ms, count=1, min=932.7ms, max=932.7ms
+  task_specific_sample: mean=644.0ms, total=644.0ms, count=1, min=644.0ms, max=644.0ms
+  compile_xml_load: mean=526.8ms, total=526.8ms, count=1, min=526.8ms, max=526.8ms
+  scene_init: mean=159.9ms, total=159.9ms, count=1, min=159.9ms, max=159.9ms
+  compile_aux_objects: mean=76.9ms, total=76.9ms, count=1, min=76.9ms, max=76.9ms
+  compile_aux_policy_objects: mean=76.9ms, total=76.9ms, count=1, min=76.9ms, max=76.9ms
+  scene_asset_install: mean=62.2ms, total=62.2ms, count=1, min=62.2ms, max=62.2ms
+  asset_install_grasps: mean=42.4ms, total=42.4ms, count=1, min=42.4ms, max=42.4ms
+  compile_robot_add: mean=40.9ms, total=40.9ms, count=1, min=40.9ms, max=40.9ms
+  asset_install_objects: mean=15.0ms, total=15.0ms, count=1, min=15.0ms, max=15.0ms
+  asset_install_scene: mean=4.8ms, total=4.8ms, count=1, min=4.8ms, max=4.8ms
+  scene_randomize: mean=1.6ms, total=1.6ms, count=1, min=1.6ms, max=1.6ms
+  mj_forward_sync: mean=610.6us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=56.1us, total=0.1ms, count=1, min=0.1ms, max=0.1ms	[profiler_utils.py: 380]
+05/15 01:11:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 01:11:47 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 01:11:47 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 01:11:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:11:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:11:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:11:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:11:47 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 01:11:47 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 01:11:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 01:11:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.099m, effective arm-mount z=0.959m (base_body_z=0.099m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 01:11:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 01:11:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 01:11:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.099269m	[env.py: 870]
+05/15 01:11:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 01:11:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 01:11:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 01:11:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.34116151 -0.23617663  0.09926902] yaw=-140.2deg	[env.py: 1019]
+05/15 01:11:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 01:11:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -37.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:11:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -174.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:11:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -63.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:11:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.30100757 -0.46832077  0.09926902] yaw=-135.4deg	[env.py: 1019]
+05/15 01:11:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 01:11:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.12596509 -0.52149484  0.09926902] yaw=-173.3deg	[env.py: 1019]
+05/15 01:11:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 01:11:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 01:11:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=135.8ms, total=135.9ms	[env.py: 1075]
+05/15 01:11:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.341, -0.236, 0.099)	[env.py: 1079]
+05/15 01:11:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -140.2 deg	[env.py: 1082]
+05/15 01:11:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.935m	[env.py: 1086]
+05/15 01:11:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:11:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:11:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:11:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:11:48 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 01:11:48 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/15 01:11:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.125s	[base_object_manipulation_planner_policy.py: 377]
+05/15 01:11:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 01:11:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 01:11:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 01:11:50 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.623s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 01:11:50 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.716[m] 63.070[deg]	[grasp_sample.py: 539]
+05/15 01:11:51 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 01:11:51 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 01:11:51 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:11:51 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 01:12:25 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:12:26 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:12:33 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 01:12:36 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 01:12:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:12:40 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:12:56 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:12:59 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:13:06 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 01:13:09 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 01:13:10 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:13:13 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:13:54 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 01:13:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:13:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:13:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:13:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:14:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:14:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:14:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:14:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:14:06 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 01:14:06 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 01:14:06 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]
+05/15 01:14:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 01:14:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.092s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/15 01:14:07 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.687s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 01:14:07 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.105[m] 0.447[deg]	[grasp_sample.py: 539]
+05/15 01:14:07 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 01:14:07 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 01:14:07 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:14:10 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 01:14:18 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 01:14:18 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 01:14:22 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/15 01:14:22 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/15 01:14:22 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 01:14:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 01:14:38 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_006	[save_utils.py: 785]
+05/15 01:14:38 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 16.49s (batch: 4.71s, save: 11.78s)	[pipeline.py: 300]
+05/15 01:14:39 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/15 01:14:39 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/15 01:14:39 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 01:14:39 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=1.00s:
+  episode_total: mean=96.48s, total=192.96s, count=2, min=3317.0ms, max=189645.0ms
+  sensor_polling: mean=438.2ms, total=131.47s, count=300, min=376.3ms, max=947.2ms
+  save_trajectories: mean=11.78s, total=11.78s, count=1, min=11779.1ms, max=11779.1ms
+  physics_step: mean=26.7ms, total=8.00s, count=300, min=17.0ms, max=51.2ms
+  save_batch_prep: mean=4.71s, total=4.71s, count=1, min=4707.6ms, max=4707.6ms
+  task_sampling: mean=501.7ms, total=1.00s, count=2, min=450.3ms, max=553.1ms
+  task_specific_sample: mean=498.2ms, total=996.4ms, count=2, min=447.2ms, max=549.2ms
+  scene_randomize: mean=1.9ms, total=3.8ms, count=2, min=1.2ms, max=2.6ms
+  mj_forward_sync: mean=456.3us, total=0.9ms, count=2, min=0.5ms, max=0.5ms
+  policy_setup: mean=28.6us, total=0.1ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 01:14:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 01:14:41 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 01:14:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 01:14:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:14:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:14:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:14:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:14:41 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 01:14:41 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: 195]
+05/15 01:14:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 01:14:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.076m, effective arm-mount z=0.936m (base_body_z=0.076m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 01:14:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 01:14:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 01:14:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.076099m	[env.py: 870]
+05/15 01:14:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 01:14:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 01:14:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 01:14:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.19130852 -0.41352381  0.07609913] yaw=-181.9deg	[env.py: 1019]
+05/15 01:14:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 01:14:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -28.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:14:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -162.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:14:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -59.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:14:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 139.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:14:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.07491191 -0.58505614  0.07609913] yaw=-141.1deg	[env.py: 1019]
+05/15 01:14:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 01:14:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.23280945 -0.53902496  0.07609913] yaw=-167.4deg	[env.py: 1019]
+05/15 01:14:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 01:14:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 01:14:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=460.4ms, total=460.4ms	[env.py: 1075]
+05/15 01:14:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.191, -0.414, 0.076)	[env.py: 1079]
+05/15 01:14:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -181.9 deg	[env.py: 1082]
+05/15 01:14:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.970m	[env.py: 1086]
+05/15 01:14:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:14:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:14:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:14:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:14:41 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 01:14:41 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/15 01:14:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.110s	[base_object_manipulation_planner_policy.py: 377]
+05/15 01:14:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 01:14:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 01:14:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 01:14:44 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.745s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 01:14:44 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.639[m] 72.798[deg]	[grasp_sample.py: 539]
+05/15 01:14:44 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 01:14:45 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 01:14:45 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:14:45 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 01:14:46 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/15 01:14:46 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/15 01:14:46 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 01:14:46 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/15 01:14:46 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/15 01:14:46 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 01:14:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 01:14:56 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_006	[save_utils.py: 785]
+05/15 01:14:56 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 17.37s (batch: 5.84s, save: 11.53s)	[pipeline.py: 300]
+05/15 01:14:57 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.41s:
+  episode_total: mean=198.53s, total=198.53s, count=1, min=198525.4ms, max=198525.4ms
+  sensor_polling: mean=460.1ms, total=138.04s, count=300, min=412.3ms, max=854.7ms
+  save_trajectories: mean=11.53s, total=11.53s, count=1, min=11534.8ms, max=11534.8ms
+  physics_step: mean=27.8ms, total=8.33s, count=300, min=17.8ms, max=35.2ms
+  save_batch_prep: mean=5.84s, total=5.84s, count=1, min=5839.0ms, max=5839.0ms
+  task_sampling: mean=411.3ms, total=411.3ms, count=1, min=411.3ms, max=411.3ms
+  task_specific_sample: mean=407.1ms, total=407.1ms, count=1, min=407.1ms, max=407.1ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=471.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=31.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 01:14:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 01:14:59 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 01:14:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 01:14:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:14:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:14:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:14:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:14:59 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 01:14:59 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 01:14:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 01:14:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.026m, effective arm-mount z=0.886m (base_body_z=0.026m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 01:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 01:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 01:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.025563m	[env.py: 870]
+05/15 01:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 01:14:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 01:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 01:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.06891468 -1.15871759  0.02556347] yaw=148.9deg	[env.py: 1019]
+05/15 01:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 01:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -155.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 63.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 102.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 68.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.01843342 -0.97988858  0.02556347] yaw=167.3deg	[env.py: 1019]
+05/15 01:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 01:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.25939906 -0.43772359  0.02556347] yaw=-137.9deg	[env.py: 1019]
+05/15 01:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 01:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 01:14:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=201.6ms, total=201.7ms	[env.py: 1075]
+05/15 01:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.069, -1.159, 0.026)	[env.py: 1079]
+05/15 01:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 148.9 deg	[env.py: 1082]
+05/15 01:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.194m	[env.py: 1086]
+05/15 01:14:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:14:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:14:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:14:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:15:00 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 01:15:00 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/15 01:15:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.115s	[base_object_manipulation_planner_policy.py: 377]
+05/15 01:15:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 01:15:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 01:15:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 01:15:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 01:15:02 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_006	[save_utils.py: 785]
+05/15 01:15:02 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 16.00s (batch: 4.35s, save: 11.66s)	[pipeline.py: 300]
+05/15 01:15:02 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.652s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 01:15:02 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 01:15:02 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.49s:
+  episode_total: mean=208.55s, total=208.55s, count=1, min=208551.1ms, max=208551.1ms
+  sensor_polling: mean=462.4ms, total=138.72s, count=300, min=417.2ms, max=795.2ms
+  save_trajectories: mean=11.66s, total=11.66s, count=1, min=11657.9ms, max=11657.9ms
+  physics_step: mean=26.2ms, total=7.85s, count=300, min=18.1ms, max=33.8ms
+  save_batch_prep: mean=4.35s, total=4.35s, count=1, min=4345.2ms, max=4345.2ms
+  task_sampling: mean=491.4ms, total=491.4ms, count=1, min=491.4ms, max=491.4ms
+  task_specific_sample: mean=486.2ms, total=486.2ms, count=1, min=486.2ms, max=486.2ms
+  scene_randomize: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms
+  mj_forward_sync: mean=499.9us, 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]
+05/15 01:15:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 01:15:04 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_006	[save_utils.py: 785]
+05/15 01:15:04 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 17.42s (batch: 4.82s, save: 12.59s)	[pipeline.py: 300]
+05/15 01:15:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 01:15:04 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 01:15:04 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 01:15:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:15:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:15:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:15:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:15:04 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 01:15:04 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 01:15:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 01:15:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.003m, effective arm-mount z=0.857m (base_body_z=-0.003m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 01:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 01:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 01:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.003107m	[env.py: 870]
+05/15 01:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 01:15:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 01:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 01:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 138.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 127.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:15:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 01:15:04 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 01:15:04 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 01:15:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:15:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:15:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:15:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:15:04 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 01:15:04 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 01:15:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 01:15:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.063m, effective arm-mount z=0.923m (base_body_z=0.063m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 01:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 01:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 01:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.063252m	[env.py: 870]
+05/15 01:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 01:15:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 01:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 01:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 148.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.27942272 -0.16479801  0.06325217] yaw=-125.0deg	[env.py: 1019]
+05/15 01:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 01:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.21590518 -0.65335692  0.06325217] yaw=-157.9deg	[env.py: 1019]
+05/15 01:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 01:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 148.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.14523553 -1.0017494   0.06325217] yaw=157.5deg	[env.py: 1019]
+05/15 01:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 01:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 01:15:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=115.1ms, total=115.1ms	[env.py: 1075]
+05/15 01:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.279, -0.165, 0.063)	[env.py: 1079]
+05/15 01:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -125.0 deg	[env.py: 1082]
+05/15 01:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.028m	[env.py: 1086]
+05/15 01:15:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:15:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:15:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:15:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 91.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.17968863 -1.06192403 -0.00310659] yaw=187.2deg	[env.py: 1019]
+05/15 01:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 01:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 01:15:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=501.1ms, total=501.1ms	[env.py: 1075]
+05/15 01:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.180, -1.062, -0.003)	[env.py: 1079]
+05/15 01:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 187.2 deg	[env.py: 1082]
+05/15 01:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.928m	[env.py: 1086]
+05/15 01:15:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:15:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:15:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:15:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:15:05 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 01:15:05 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/15 01:15:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s	[base_object_manipulation_planner_policy.py: 377]
+05/15 01:15:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 01:15:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 01:15:05 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.46s:
+  episode_total: mean=197.48s, total=197.48s, count=1, min=197476.1ms, max=197476.1ms
+  sensor_polling: mean=456.9ms, total=137.08s, count=300, min=397.1ms, max=825.8ms
+  save_trajectories: mean=12.59s, total=12.59s, count=1, min=12593.5ms, max=12593.5ms
+  physics_step: mean=26.2ms, total=7.86s, count=300, min=19.4ms, max=36.7ms
+  save_batch_prep: mean=4.82s, total=4.82s, count=1, min=4824.1ms, max=4824.1ms
+  task_sampling: mean=459.7ms, total=459.7ms, count=1, min=459.7ms, max=459.7ms
+  task_specific_sample: mean=455.4ms, total=455.4ms, count=1, min=455.4ms, max=455.4ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=453.9us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=43.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 01:15:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 01:15:05 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 01:15:05 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/15 01:15:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.125s	[base_object_manipulation_planner_policy.py: 377]
+05/15 01:15:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 01:15:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 01:15:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 01:15:06 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.142s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 01:15:06 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.690[m] 106.486[deg]	[grasp_sample.py: 539]
+05/15 01:15:06 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 01:15:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 01:15:06 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 01:15:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 01:15:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:15:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:15:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:15:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:15:06 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 01:15:06 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 01:15:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 01:15:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.099m, effective arm-mount z=0.761m (base_body_z=-0.099m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 01:15:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 01:15:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 01:15:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.098745m	[env.py: 870]
+05/15 01:15:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 01:15:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 01:15:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 01:15:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.2571733  -0.72793901 -0.09874522] yaw=-179.5deg	[env.py: 1019]
+05/15 01:15:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 01:15:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -72.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:15:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.43740038 -0.18134231 -0.09874522] yaw=-129.4deg	[env.py: 1019]
+05/15 01:15:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 01:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.27553965 -1.15072689 -0.09874522] yaw=147.1deg	[env.py: 1019]
+05/15 01:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 01:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 01:15:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=138.1ms, total=138.2ms	[env.py: 1075]
+05/15 01:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.257, -0.728, -0.099)	[env.py: 1079]
+05/15 01:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -179.5 deg	[env.py: 1082]
+05/15 01:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.822m	[env.py: 1086]
+05/15 01:15:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:15:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:15:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:15:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:15:07 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 01:15:07 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:15:07 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 01:15:07 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/15 01:15:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.124s	[base_object_manipulation_planner_policy.py: 377]
+05/15 01:15:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 01:15:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 01:15:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 01:15:07 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 01:15:08 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.974s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 01:15:08 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.680[m] 150.334[deg]	[grasp_sample.py: 539]
+05/15 01:15:08 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 01:15:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 01:15:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:15:09 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 01:15:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.180s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 01:15:09 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.741[m] 91.637[deg]	[grasp_sample.py: 539]
+05/15 01:15:10 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/15 01:15:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 01:15:12 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 01:15:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 01:15:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:15:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:15:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:15:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:15:12 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 01:15:12 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 01:15:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 01:15:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.015m, effective arm-mount z=0.875m (base_body_z=0.015m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 01:15:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 01:15:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 01:15:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.015122m	[env.py: 870]
+05/15 01:15:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 01:15:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 01:15:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 01:15:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -59.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:15:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 84.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:15:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.07853658 -0.56050241  0.01512221] yaw=-160.1deg	[env.py: 1019]
+05/15 01:15:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 01:15:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 147.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:15:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -73.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:15:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.2443419  -0.80036261  0.01512221] yaw=-195.2deg	[env.py: 1019]
+05/15 01:15:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 01:15:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.32950422 -0.34591042  0.01512221] yaw=-145.7deg	[env.py: 1019]
+05/15 01:15:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 01:15:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 01:15:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=205.7ms, total=205.7ms	[env.py: 1075]
+05/15 01:15:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.079, -0.561, 0.015)	[env.py: 1079]
+05/15 01:15:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -160.1 deg	[env.py: 1082]
+05/15 01:15:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.181m	[env.py: 1086]
+05/15 01:15:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:15:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:15:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:15:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:15:12 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 01:15:12 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/15 01:15:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.112s	[base_object_manipulation_planner_policy.py: 377]
+05/15 01:15:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 01:15:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 01:15:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.081s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 01:15:15 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.627s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 01:15:15 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 01:15:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 01:15:17 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 01:15:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 01:15:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:15:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:15:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:15:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:15:17 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 01:15:17 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 01:15:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 01:15:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.035m, effective arm-mount z=0.825m (base_body_z=-0.035m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 01:15:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 01:15:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 01:15:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.034716m	[env.py: 870]
+05/15 01:15:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 01:15:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 01:15:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 01:15:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -42.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:15:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.03156688 -1.1492154  -0.03471572] yaw=133.9deg	[env.py: 1019]
+05/15 01:15:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 01:15:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 64.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:15:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 141.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:15:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 66.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:15:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.4203739   0.10490887 -0.03471572] yaw=-126.7deg	[env.py: 1019]
+05/15 01:15:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 01:15:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 01:15:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=241.4ms, total=241.5ms	[env.py: 1075]
+05/15 01:15:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.032, -1.149, -0.035)	[env.py: 1079]
+05/15 01:15:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 133.9 deg	[env.py: 1082]
+05/15 01:15:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.095m	[env.py: 1086]
+05/15 01:15:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:15:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:15:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:15:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:15:18 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 01:15:18 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/15 01:15:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s	[base_object_manipulation_planner_policy.py: 377]
+05/15 01:15:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 01:15:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 01:15:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.083s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 01:15:21 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.857s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 01:15:21 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.708[m] 106.004[deg]	[grasp_sample.py: 539]
+05/15 01:15:21 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 01:15:21 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 01:15:21 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:15:22 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 01:15:40 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:15:49 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 01:15:53 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:16:10 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:16:19 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 01:16:23 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:16:33 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:16:35 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:16:43 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 01:16:46 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 01:16:48 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:16:51 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:16:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:17:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:17:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:17:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:17:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:17:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:17:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:17:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:17:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:17:17 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/15 01:17:17 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=False episode_total=0.79s:
+  episode_total: mean=156.24s, total=156.24s, count=1, min=156241.9ms, max=156241.9ms
+  sensor_polling: mean=408.9ms, total=122.66s, count=300, min=372.2ms, max=925.7ms
+  physics_step: mean=24.2ms, total=7.27s, count=300, min=21.5ms, max=59.9ms
+  task_sampling: mean=792.6ms, total=792.6ms, count=1, min=792.6ms, max=792.6ms
+  task_specific_sample: mean=788.7ms, total=788.7ms, count=1, min=788.7ms, max=788.7ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=459.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=22.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 01:17:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 01:17:18 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 01:17:18 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 01:17:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:17:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:17:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:17:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:17:18 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 01:17:18 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 01:17:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 01:17:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.055m, effective arm-mount z=0.915m (base_body_z=0.055m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 01:17:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 01:17:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 01:17:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.055189m	[env.py: 870]
+05/15 01:17:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 01:17:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 01:17:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 01:17:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 93.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:17:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 146.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:17:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 137.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:17:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -55.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:17:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 130.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:17:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=208.1ms, total=208.1ms	[env.py: 1105]
+05/15 01:17:19 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root'	[opening_task_samplers.py: 302]
+05/15 01:17:19 ERROR: [Worker 0] Worker 0 house 1 episode 4 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root	[pipeline.py: 1063]
+05/15 01:17:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 01:17:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 01:17:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 01:17:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:17:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:17:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:17:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:17:20 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 01:17:20 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 01:17:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 01:17:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.029m, effective arm-mount z=0.889m (base_body_z=0.029m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 01:17:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 01:17:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 01:17:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.029077m	[env.py: 870]
+05/15 01:17:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 01:17:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 01:17:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 01:17:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.12730131 -0.09279671  0.02907668] yaw=-125.9deg	[env.py: 1019]
+05/15 01:17:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 01:17:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -56.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:17:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 161.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:17:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 78.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:17:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -163.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:17:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.16267784 -1.06407857  0.02907668] yaw=187.3deg	[env.py: 1019]
+05/15 01:17:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 01:17:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 01:17:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=223.1ms, total=223.2ms	[env.py: 1075]
+05/15 01:17:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.127, -0.093, 0.029)	[env.py: 1079]
+05/15 01:17:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -125.9 deg	[env.py: 1082]
+05/15 01:17:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.192m	[env.py: 1086]
+05/15 01:17:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:17:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:17:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:17:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:17:21 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 01:17:21 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/15 01:17:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.106s	[base_object_manipulation_planner_policy.py: 377]
+05/15 01:17:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 01:17:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 01:17:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 01:17:23 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.550s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 01:17:23 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 01:17:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:17:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 01:17:25 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 01:17:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 01:17:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:17:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:17:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:17:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:17:25 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 01:17:25 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 01:17:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 01:17:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.073m, effective arm-mount z=0.933m (base_body_z=0.073m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 01:17:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 01:17:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 01:17:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.073085m	[env.py: 870]
+05/15 01:17:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 01:17:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 01:17:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 01:17:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -69.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:17:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -58.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:17:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 140.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:17:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -175.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:17:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.22902366 -0.90126834  0.0730849 ] yaw=178.2deg	[env.py: 1019]
+05/15 01:17:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 01:17:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.35100024 -0.01649805  0.0730849 ] yaw=-104.5deg	[env.py: 1019]
+05/15 01:17:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 01:17:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.01563056 -0.52091501  0.0730849 ] yaw=-152.5deg	[env.py: 1019]
+05/15 01:17:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 01:17:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 01:17:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=247.2ms, total=247.3ms	[env.py: 1075]
+05/15 01:17:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.229, -0.901, 0.073)	[env.py: 1079]
+05/15 01:17:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 178.2 deg	[env.py: 1082]
+05/15 01:17:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.850m	[env.py: 1086]
+05/15 01:17:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:17:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:17:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:17:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:17:25 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 01:17:25 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/15 01:17:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s	[base_object_manipulation_planner_policy.py: 377]
+05/15 01:17:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 01:17:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 01:17:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 01:17:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:17:26 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.711s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 01:17:26 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.359[m] 104.388[deg]	[grasp_sample.py: 539]
+05/15 01:17:26 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 01:17:27 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 01:17:27 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:17:27 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 01:17:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:17:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:17:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:17:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:17:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:17:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:17:34 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 01:17:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:17:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:17:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:17:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:17:42 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 01:17:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:17:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:17:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:17:46 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 01:17:46 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 01:17:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 01:17:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 01:17:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 82 non-colliding grasps	[grasp_sample.py: 465]
+05/15 01:17:47 INFO: [Worker 0] Feasibility-checked 82 grasps in 0.991s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 01:17:47 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.029[m] 0.380[deg]	[grasp_sample.py: 539]
+05/15 01:17:47 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 01:17:48 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 01:17:48 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:17:52 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:17:59 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:18:02 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 01:18:03 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/15 01:18:03 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/15 01:18:03 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 01:18:05 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/15 01:18:05 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=False episode_total=1.95s:
+  episode_total: mean=45.16s, total=180.63s, count=4, min=3311.4ms, max=167946.9ms
+  sensor_polling: mean=477.0ms, total=143.10s, count=300, min=409.4ms, max=891.4ms
+  physics_step: mean=24.7ms, total=7.41s, count=300, min=15.7ms, max=38.0ms
+  task_sampling: mean=488.6ms, total=1.95s, count=4, min=481.7ms, max=501.5ms
+  task_specific_sample: mean=485.2ms, total=1.94s, count=4, min=479.0ms, max=497.5ms
+  scene_randomize: mean=1.8ms, total=7.2ms, count=4, min=1.2ms, max=2.6ms
+  mj_forward_sync: mean=491.1us, total=2.0ms, count=4, min=0.4ms, max=0.6ms
+  policy_setup: mean=22.1us, 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]
+05/15 01:18:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 01:18:07 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 01:18:07 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 01:18:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:18:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:18:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:18:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:18:07 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 01:18:07 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 01:18:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 01:18:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.069m, effective arm-mount z=0.791m (base_body_z=-0.069m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 01:18:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 01:18:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 01:18:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.068719m	[env.py: 870]
+05/15 01:18:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 01:18:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 01:18:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 01:18:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 118.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:18:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 149.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:18:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 99.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:18:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.10209803 -0.63315288 -0.06871907] yaw=-157.8deg	[env.py: 1019]
+05/15 01:18:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 01:18:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 146.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:18:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.37596328  0.06470351 -0.06871907] yaw=-153.0deg	[env.py: 1019]
+05/15 01:18:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 01:18:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 01:18:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=205.7ms, total=205.8ms	[env.py: 1075]
+05/15 01:18:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.102, -0.633, -0.069)	[env.py: 1079]
+05/15 01:18:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -157.8 deg	[env.py: 1082]
+05/15 01:18:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.989m	[env.py: 1086]
+05/15 01:18:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:18:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:18:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:18:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:18:08 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 01:18:08 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/15 01:18:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.098s	[base_object_manipulation_planner_policy.py: 377]
+05/15 01:18:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 01:18:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 01:18:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 01:18:09 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 01:18:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.812s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 01:18:09 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.617[m] 101.279[deg]	[grasp_sample.py: 539]
+05/15 01:18:09 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 01:18:09 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 01:18:09 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:18:10 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 01:18:12 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/15 01:18:12 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/15 01:18:12 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 01:18:13 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:18:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 01:18:19 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_006	[save_utils.py: 785]
+05/15 01:18:19 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 15.92s (batch: 4.82s, save: 11.10s)	[pipeline.py: 300]
+05/15 01:18:20 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.80s:
+  episode_total: mean=195.63s, total=195.63s, count=1, min=195631.7ms, max=195631.7ms
+  sensor_polling: mean=432.7ms, total=129.81s, count=300, min=382.4ms, max=853.9ms
+  save_trajectories: mean=11.10s, total=11.10s, count=1, min=11100.7ms, max=11100.7ms
+  physics_step: mean=23.7ms, total=7.10s, count=300, min=20.1ms, max=66.5ms
+  save_batch_prep: mean=4.82s, total=4.82s, count=1, min=4823.0ms, max=4823.0ms
+  task_sampling: mean=804.0ms, total=804.0ms, count=1, min=804.0ms, max=804.0ms
+  task_specific_sample: mean=799.2ms, total=799.2ms, count=1, min=799.2ms, max=799.2ms
+  scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
+  mj_forward_sync: mean=607.1us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=20.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 01:18:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 01:18:21 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 01:18:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 01:18:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:18:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:18:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:18:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:18:21 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 01:18:21 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 01:18:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 01:18:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.095m, effective arm-mount z=0.765m (base_body_z=-0.095m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 01:18:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 01:18:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 01:18:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.095005m	[env.py: 870]
+05/15 01:18:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 01:18:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 01:18:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 01:18:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.12870207 -0.55071005 -0.09500521] yaw=-140.7deg	[env.py: 1019]
+05/15 01:18:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 01:18:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 94.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:18:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.09559033 -0.6785587  -0.09500521] yaw=-152.1deg	[env.py: 1019]
+05/15 01:18:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 01:18:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -47.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:18:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.22985343 -0.96035821 -0.09500521] yaw=146.8deg	[env.py: 1019]
+05/15 01:18:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 01:18:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 01:18:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=285.2ms, total=285.3ms	[env.py: 1075]
+05/15 01:18:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.129, -0.551, -0.095)	[env.py: 1079]
+05/15 01:18:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -140.7 deg	[env.py: 1082]
+05/15 01:18:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.982m	[env.py: 1086]
+05/15 01:18:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:18:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:18:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:18:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:18:22 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 01:18:22 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/15 01:18:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.114s	[base_object_manipulation_planner_policy.py: 377]
+05/15 01:18:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 01:18:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 01:18:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 01:18:25 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.979s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 01:18:25 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.717[m] 67.034[deg]	[grasp_sample.py: 539]
+05/15 01:18:25 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 01:18:25 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 01:18:25 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:18:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 01:18:29 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_006	[save_utils.py: 785]
+05/15 01:18:29 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 17.16s (batch: 4.98s, save: 12.18s)	[pipeline.py: 300]
+05/15 01:18:30 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.45s:
+  episode_total: mean=203.68s, total=203.68s, count=1, min=203683.7ms, max=203683.7ms
+  sensor_polling: mean=477.6ms, total=143.27s, count=300, min=405.6ms, max=927.1ms
+  save_trajectories: mean=12.18s, total=12.18s, count=1, min=12175.4ms, max=12175.4ms
+  physics_step: mean=27.2ms, total=8.15s, count=300, min=17.2ms, max=95.2ms
+  save_batch_prep: mean=4.98s, total=4.98s, count=1, min=4980.4ms, max=4980.4ms
+  task_sampling: mean=451.4ms, total=451.4ms, count=1, min=451.4ms, max=451.4ms
+  task_specific_sample: mean=445.3ms, total=445.3ms, count=1, min=445.3ms, max=445.3ms
+  scene_randomize: mean=4.2ms, total=4.2ms, count=1, min=4.2ms, max=4.2ms
+  mj_forward_sync: mean=903.1us, total=0.9ms, count=1, min=0.9ms, max=0.9ms
+  policy_setup: mean=30.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 01:18:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 01:18:31 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 01:18:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 01:18:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:18:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:18:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:18:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:18:31 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 01:18:31 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 01:18:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 01:18:31 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: 273]
+05/15 01:18:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 01:18:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 01:18:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034784m	[env.py: 870]
+05/15 01:18:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 01:18:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 01:18:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 01:18:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 127.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.52766635 -0.20504445  0.03478434] yaw=-155.1deg	[env.py: 1019]
+05/15 01:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 01:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 118.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.09176687 -0.55031227  0.03478434] yaw=-137.4deg	[env.py: 1019]
+05/15 01:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 01:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 131.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.2179387  -0.01594898  0.03478434] yaw=-116.5deg	[env.py: 1019]
+05/15 01:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 01:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 01:18:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=225.5ms, total=225.5ms	[env.py: 1075]
+05/15 01:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.528, -0.205, 0.035)	[env.py: 1079]
+05/15 01:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -155.1 deg	[env.py: 1082]
+05/15 01:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.820m	[env.py: 1086]
+05/15 01:18:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:18:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:18:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:18:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:18:32 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 01:18:32 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/15 01:18:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.141s	[base_object_manipulation_planner_policy.py: 377]
+05/15 01:18:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 01:18:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 01:18:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.082s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 01:18:33 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.931s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 01:18:33 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.685[m] 77.394[deg]	[grasp_sample.py: 539]
+05/15 01:18:33 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 01:18:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 01:18:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:18:34 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 01:19:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:19:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:19:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:19:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:19:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:19:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:19:10 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:19:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:19:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:19:13 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 01:19:13 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 01:19:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 01:19:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 01:19:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/15 01:19:14 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.881s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 01:19:14 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.033[m] 0.184[deg]	[grasp_sample.py: 539]
+05/15 01:19:14 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 01:19:14 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 01:19:14 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:19:19 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 01:19:23 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:19:24 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:19:33 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 01:19:37 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:19:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:19:39 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:19:48 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 01:19:49 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 01:19:52 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:19:53 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:20:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:20:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:20:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:20:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:20:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:20:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:20:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:20:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:20:15 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 01:20:15 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 01:20:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 01:20:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 01:20:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.093s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/15 01:20:17 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.966s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 01:20:17 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.030[m] 4.019[deg]	[grasp_sample.py: 539]
+05/15 01:20:18 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/15 01:20:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 01:20:19 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 01:20:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 01:20:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:20:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:20:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:20:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:20:19 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 01:20:19 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 01:20:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 01:20:19 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: 273]
+05/15 01:20:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 01:20:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 01:20:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.093159m	[env.py: 870]
+05/15 01:20:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 01:20:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 01:20:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 01:20:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -49.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:20:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -54.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:20:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.24520917 -0.49108624  0.09315911] yaw=-147.2deg	[env.py: 1019]
+05/15 01:20:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 01:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -45.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -37.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 01:20:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=275.6ms, total=275.6ms	[env.py: 1075]
+05/15 01:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.245, -0.491, 0.093)	[env.py: 1079]
+05/15 01:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -147.2 deg	[env.py: 1082]
+05/15 01:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.891m	[env.py: 1086]
+05/15 01:20:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:20:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:20:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:20:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:20:20 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 01:20:20 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/15 01:20:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s	[base_object_manipulation_planner_policy.py: 377]
+05/15 01:20:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 01:20:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 01:20:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 01:20:21 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.938s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 01:20:21 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.498[m] 48.937[deg]	[grasp_sample.py: 539]
+05/15 01:20:21 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 01:20:21 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 01:20:21 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:20:43 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 01:20:56 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 01:21:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:21:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:21:02 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:21:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:21:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:21:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:21:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:21:11 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 01:21:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:21:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:21:13 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 01:21:13 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 01:21:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 01:21:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 01:21:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/15 01:21:14 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/15 01:21:14 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/15 01:21:14 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 01:21:15 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:21:16 INFO: [Worker 0] Feasibility-checked 80 grasps in 2.661s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 01:21:16 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.663[deg]	[grasp_sample.py: 539]
+05/15 01:21:17 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/15 01:21:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 01:21:19 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 01:21:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 01:21:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:21:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:21:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:21:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:21:19 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 01:21:19 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 01:21:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 01:21:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.098m, effective arm-mount z=0.958m (base_body_z=0.098m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 01:21:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 01:21:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 01:21:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.097906m	[env.py: 870]
+05/15 01:21:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 01:21:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 01:21:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 01:21:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.08822964 -0.66667425  0.09790608] yaw=-174.3deg	[env.py: 1019]
+05/15 01:21:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 01:21:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 110.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:21:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.04097096 -1.35242758  0.09790608] yaw=161.4deg	[env.py: 1019]
+05/15 01:21:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 01:21:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.04784064 -0.96266121  0.09790608] yaw=153.6deg	[env.py: 1019]
+05/15 01:21:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 01:21:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 01:21:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=80.5ms, total=80.6ms	[env.py: 1075]
+05/15 01:21:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.088, -0.667, 0.098)	[env.py: 1079]
+05/15 01:21:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -174.3 deg	[env.py: 1082]
+05/15 01:21:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.997m	[env.py: 1086]
+05/15 01:21:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:21:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:21:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:21:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:21:19 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 01:21:19 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/15 01:21:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s	[base_object_manipulation_planner_policy.py: 377]
+05/15 01:21:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 01:21:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 01:21:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 01:21:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.732s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 01:21:22 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.634[m] 81.365[deg]	[grasp_sample.py: 539]
+05/15 01:21:22 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 01:21:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 01:21:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:21:23 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 01:21:24 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/15 01:21:24 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/15 01:21:24 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 01:21:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 01:21:35 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_006	[save_utils.py: 785]
+05/15 01:21:35 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 21.13s (batch: 6.12s, save: 15.01s)	[pipeline.py: 300]
+05/15 01:21:36 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.47s:
+  episode_total: mean=208.80s, total=208.80s, count=1, min=208804.6ms, max=208804.6ms
+  sensor_polling: mean=471.1ms, total=141.32s, count=300, min=405.7ms, max=1051.8ms
+  save_trajectories: mean=15.01s, total=15.01s, count=1, min=15007.6ms, max=15007.6ms
+  physics_step: mean=26.7ms, total=8.00s, count=300, min=21.4ms, max=42.8ms
+  save_batch_prep: mean=6.12s, total=6.12s, count=1, min=6120.6ms, max=6120.6ms
+  task_sampling: mean=470.8ms, total=470.8ms, count=1, min=470.8ms, max=470.8ms
+  task_specific_sample: mean=468.0ms, total=468.0ms, count=1, min=468.0ms, max=468.0ms
+  scene_randomize: mean=1.3ms, total=1.3ms, count=1, min=1.3ms, max=1.3ms
+  mj_forward_sync: mean=451.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=20.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 01:21:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 01:21:38 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 01:21:38 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 01:21:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:21:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:21:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:21:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:21:38 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 01:21:38 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: 195]
+05/15 01:21:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 01:21:38 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: 273]
+05/15 01:21:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 01:21:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 01:21:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.095744m	[env.py: 870]
+05/15 01:21:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 01:21:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 01:21:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 01:21:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 102.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:21:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -52.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:21:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 63.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:21:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 82.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:21:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.18542838 -1.24412387  0.09574353] yaw=138.8deg	[env.py: 1019]
+05/15 01:21:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 01:21:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.23552926 -0.88192334  0.09574353] yaw=184.2deg	[env.py: 1019]
+05/15 01:21:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 01:21:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.02438221 -0.61251131  0.09574353] yaw=-172.4deg	[env.py: 1019]
+05/15 01:21:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 01:21:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 01:21:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=420.7ms, total=420.8ms	[env.py: 1075]
+05/15 01:21:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.185, -1.244, 0.096)	[env.py: 1079]
+05/15 01:21:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 138.8 deg	[env.py: 1082]
+05/15 01:21:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.987m	[env.py: 1086]
+05/15 01:21:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:21:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:21:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:21:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:21:39 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 01:21:39 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/15 01:21:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.127s	[base_object_manipulation_planner_policy.py: 377]
+05/15 01:21:39 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]
+05/15 01:21:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 01:21:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.089s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 01:21:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 01:21:40 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_006	[save_utils.py: 785]
+05/15 01:21:40 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 15.69s (batch: 4.41s, save: 11.28s)	[pipeline.py: 300]
+05/15 01:21:41 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.60s:
+  episode_total: mean=199.79s, total=199.79s, count=1, min=199793.8ms, max=199793.8ms
+  sensor_polling: mean=468.1ms, total=140.44s, count=300, min=403.5ms, max=873.1ms
+  save_trajectories: mean=11.28s, total=11.28s, count=1, min=11280.8ms, max=11280.8ms
+  physics_step: mean=25.9ms, total=7.77s, count=300, min=21.5ms, max=40.4ms
+  save_batch_prep: mean=4.41s, total=4.41s, count=1, min=4409.2ms, max=4409.2ms
+  task_sampling: mean=598.4ms, total=598.4ms, count=1, min=598.4ms, max=598.4ms
+  task_specific_sample: mean=594.1ms, total=594.1ms, count=1, min=594.1ms, max=594.1ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=459.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=17.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 01:21:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 01:21:42 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 01:21:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 01:21:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:21:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:21:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:21:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:21:42 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 01:21:42 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 01:21:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 01:21:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.019m, effective arm-mount z=0.841m (base_body_z=-0.019m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 01:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 01:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 01:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.018713m	[env.py: 870]
+05/15 01:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 01:21:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 01:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 01:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.38092313  0.07556968 -0.01871316] yaw=-144.0deg	[env.py: 1019]
+05/15 01:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 01:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 132.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.46005595 -0.19225878 -0.01871316] yaw=-128.0deg	[env.py: 1019]
+05/15 01:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 01:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.01456758 -0.60756952 -0.01871316] yaw=-154.7deg	[env.py: 1019]
+05/15 01:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 01:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 01:21:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=102.4ms, total=102.5ms	[env.py: 1075]
+05/15 01:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.381, 0.076, -0.019)	[env.py: 1079]
+05/15 01:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -144.0 deg	[env.py: 1082]
+05/15 01:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.129m	[env.py: 1086]
+05/15 01:21:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:21:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:21:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:21:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:21:43 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 01:21:43 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/15 01:21:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.122s	[base_object_manipulation_planner_policy.py: 377]
+05/15 01:21:43 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]
+05/15 01:21:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 01:21:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 01:21:43 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.860s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 01:21:43 INFO: [Worker 0] Feasible grasp found 14 (originally 14): w/ 0.648[m] 101.884[deg]	[grasp_sample.py: 539]
+05/15 01:21:43 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 01:21:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 01:21:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:21:44 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 01:21:45 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.747s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 01:21:45 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 01:21:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 01:21:49 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 01:21:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 01:21:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:21:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:21:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:21:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:21:49 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 01:21:49 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: 195]
+05/15 01:21:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 01:21:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.002m, effective arm-mount z=0.858m (base_body_z=-0.002m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 01:21:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 01:21:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 01:21:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.001589m	[env.py: 870]
+05/15 01:21:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 01:21:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 01:21:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 01:21:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.09132133 -1.01316337 -0.0015894 ] yaw=165.6deg	[env.py: 1019]
+05/15 01:21:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 01:21:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 114.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:21:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 58.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:21:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.01205284 -0.76534833 -0.0015894 ] yaw=-198.9deg	[env.py: 1019]
+05/15 01:21:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 01:21:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 155.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:21:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.32886777 -0.52004793 -0.0015894 ] yaw=-171.9deg	[env.py: 1019]
+05/15 01:21:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 01:21:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 01:21:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=199.3ms, total=199.3ms	[env.py: 1075]
+05/15 01:21:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.091, -1.013, -0.002)	[env.py: 1079]
+05/15 01:21:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 165.6 deg	[env.py: 1082]
+05/15 01:21:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.003m	[env.py: 1086]
+05/15 01:21:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:21:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:21:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:21:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:21:49 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 01:21:49 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/15 01:21:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.115s	[base_object_manipulation_planner_policy.py: 377]
+05/15 01:21:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 01:21:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 01:21:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 01:21:51 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.980s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 01:21:51 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.753[m] 130.222[deg]	[grasp_sample.py: 539]
+05/15 01:21:51 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 01:21:51 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 01:21:51 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:21:52 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 01:22:29 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:22:35 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 01:22:39 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 01:22:45 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:22:45 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:22:54 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 01:22:59 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:23:06 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/15 01:23:06 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/15 01:23:06 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 01:23:22 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:23:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 01:23:23 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_006	[save_utils.py: 785]
+05/15 01:23:23 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 16.19s (batch: 4.49s, save: 11.70s)	[pipeline.py: 300]
+05/15 01:23:23 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=1.52s:
+  episode_total: mean=90.04s, total=360.17s, count=4, min=220.7ms, max=183627.6ms
+  sensor_polling: mean=424.0ms, total=241.68s, count=570, min=373.1ms, max=929.7ms
+  physics_step: mean=25.1ms, total=14.28s, count=570, min=15.4ms, max=34.8ms
+  save_trajectories: mean=11.70s, total=11.70s, count=1, min=11699.6ms, max=11699.6ms
+  save_batch_prep: mean=4.49s, total=4.49s, count=1, min=4489.6ms, max=4489.6ms
+  task_specific_sample: mean=431.8ms, total=1.73s, count=4, min=214.2ms, max=532.5ms
+  task_sampling: mean=507.1ms, total=1.52s, count=3, min=482.3ms, max=535.1ms
+  task_sampling_failed: mean=220.7ms, total=220.7ms, count=1, min=220.7ms, max=220.7ms
+  scene_randomize: mean=1.2ms, total=4.8ms, count=4, min=1.1ms, max=1.3ms
+  mj_forward_sync: mean=449.4us, total=1.8ms, count=4, min=0.4ms, max=0.5ms
+  policy_setup: mean=19.0us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 01:23:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 01:23:24 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 01:23:24 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 01:23:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:23:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:23:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:23:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:23:24 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 01:23:24 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 01:23:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 01:23:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.053m, effective arm-mount z=0.807m (base_body_z=-0.053m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 01:23:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 01:23:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 01:23:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.053091m	[env.py: 870]
+05/15 01:23:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 01:23:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 01:23:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 01:23:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 104.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:23:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 134.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:23:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 139.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:23:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -33.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:23:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 143.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:23:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.09263434 -1.34827324 -0.05309071] yaw=163.2deg	[env.py: 1019]
+05/15 01:23:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 01:23:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.2240725  -0.66475741 -0.05309071] yaw=-179.4deg	[env.py: 1019]
+05/15 01:23:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 01:23:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 01:23:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=516.6ms, total=516.6ms	[env.py: 1075]
+05/15 01:23:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.093, -1.348, -0.053)	[env.py: 1079]
+05/15 01:23:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 163.2 deg	[env.py: 1082]
+05/15 01:23:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.117m	[env.py: 1086]
+05/15 01:23:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:23:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:23:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:23:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:23:25 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 01:23:25 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/15 01:23:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.115s	[base_object_manipulation_planner_policy.py: 377]
+05/15 01:23:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 01:23:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 01:23:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 01:23:28 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.555s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 01:23:28 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 01:23:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 01:23:29 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 01:23:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 01:23:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:23:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:23:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:23:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:23:29 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 01:23:29 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 01:23:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 01:23:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.023m, effective arm-mount z=0.883m (base_body_z=0.023m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 01:23:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 01:23:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 01:23:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.023091m	[env.py: 870]
+05/15 01:23:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 01:23:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 01:23:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 01:23:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -45.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:23:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 153.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:23:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 163.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.02266584 -1.05298455  0.02309088] yaw=174.9deg	[env.py: 1019]
+05/15 01:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 01:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 139.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.17392566 -0.98285646  0.02309088] yaw=182.7deg	[env.py: 1019]
+05/15 01:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 01:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.03313384 -0.33814484  0.02309088] yaw=-133.1deg	[env.py: 1019]
+05/15 01:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 01:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 01:23:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=362.5ms, total=362.5ms	[env.py: 1075]
+05/15 01:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.023, -1.053, 0.023)	[env.py: 1079]
+05/15 01:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 174.9 deg	[env.py: 1082]
+05/15 01:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.122m	[env.py: 1086]
+05/15 01:23:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:23:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:23:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:23:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:23:30 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 01:23:30 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/15 01:23:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s	[base_object_manipulation_planner_policy.py: 377]
+05/15 01:23:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 01:23:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 01:23:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 01:23:31 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 01:23:33 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.970s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 01:23:33 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.516[m] 76.492[deg]	[grasp_sample.py: 539]
+05/15 01:23:34 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 01:23:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 01:23:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:23:35 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:23:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:23:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:24:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:24:00 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 01:24:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:24:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:24:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:24:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:24:09 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 01:24:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:24:09 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 01:24:09 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 01:24:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 01:24:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 01:24:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/15 01:24:10 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.801s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 01:24:10 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.031[m] 0.180[deg]	[grasp_sample.py: 539]
+05/15 01:24:10 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 01:24:10 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 01:24:10 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:24:15 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:24:21 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:24:24 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 01:24:29 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:24:30 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 01:24:31 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/15 01:24:31 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/15 01:24:31 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 01:24:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:24:34 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:24:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:24:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:24:37 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/15 01:24:37 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/15 01:24:37 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 01:24:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:24:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:24:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:24:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:24:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:24:46 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 01:24:46 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 01:24:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 01:24:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 01:24:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/15 01:24:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 01:24:47 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_006	[save_utils.py: 785]
+05/15 01:24:47 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 16.05s (batch: 4.69s, save: 11.36s)	[pipeline.py: 300]
+05/15 01:24:47 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.94s:
+  episode_total: mean=187.16s, total=374.32s, count=2, min=165808.8ms, max=208516.0ms
+  sensor_polling: mean=475.9ms, total=283.63s, count=596, min=410.4ms, max=985.2ms
+  physics_step: mean=26.5ms, total=15.80s, count=596, min=20.9ms, max=95.7ms
+  save_trajectories: mean=11.36s, total=11.36s, count=1, min=11356.8ms, max=11356.8ms
+  save_batch_prep: mean=4.69s, total=4.69s, count=1, min=4688.8ms, max=4688.8ms
+  task_sampling: mean=472.5ms, total=944.9ms, count=2, min=338.6ms, max=606.4ms
+  task_specific_sample: mean=468.7ms, total=937.4ms, count=2, min=335.4ms, max=602.1ms
+  scene_randomize: mean=2.0ms, total=4.1ms, count=2, min=1.3ms, max=2.8ms
+  mj_forward_sync: mean=458.0us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=24.2us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 01:24:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 01:24:49 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 01:24:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 01:24:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:24:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:24:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:24:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:24:49 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 01:24:49 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: 195]
+05/15 01:24:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 01:24:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.079m, effective arm-mount z=0.939m (base_body_z=0.079m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 01:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 01:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 01:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.078970m	[env.py: 870]
+05/15 01:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 01:24:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 01:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 01:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 144.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -176.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 84.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -43.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -51.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.00372673 -1.33986266  0.07897042] yaw=157.6deg	[env.py: 1019]
+05/15 01:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 01:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.24717577 -0.44380415  0.07897042] yaw=-166.4deg	[env.py: 1019]
+05/15 01:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 01:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.17766856 -0.56246923  0.07897042] yaw=-181.9deg	[env.py: 1019]
+05/15 01:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 01:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 01:24:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=226.2ms, total=226.3ms	[env.py: 1075]
+05/15 01:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.004, -1.340, 0.079)	[env.py: 1079]
+05/15 01:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 157.6 deg	[env.py: 1082]
+05/15 01:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.199m	[env.py: 1086]
+05/15 01:24:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:24:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:24:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:24:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:24:49 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.374s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 01:24:49 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.028[m] 3.833[deg]	[grasp_sample.py: 539]
+05/15 01:24:49 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 01:24:49 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 01:24:49 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/15 01:24:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.120s	[base_object_manipulation_planner_policy.py: 377]
+05/15 01:24:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 01:24:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 01:24:49 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 01:24:49 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:24:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 01:24:52 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/15 01:24:52 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 01:24:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 01:24:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 01:24:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/15 01:24:52 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.569s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 01:24:52 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 01:24:52 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/15 01:24:52 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=False episode_total=1.03s:
+  episode_total: mean=93.33s, total=186.67s, count=2, min=3348.7ms, max=183318.8ms
+  sensor_polling: mean=485.9ms, total=145.77s, count=300, min=418.6ms, max=986.1ms
+  physics_step: mean=25.7ms, total=7.70s, count=300, min=15.1ms, max=37.0ms
+  task_sampling: mean=515.2ms, total=1.03s, count=2, min=392.0ms, max=638.3ms
+  task_specific_sample: mean=509.2ms, total=1.02s, count=2, min=387.9ms, max=630.4ms
+  scene_randomize: mean=2.7ms, total=5.5ms, count=2, min=2.6ms, max=2.8ms
+  mj_forward_sync: mean=463.6us, total=0.9ms, count=2, min=0.5ms, max=0.5ms
+  policy_setup: mean=34.6us, total=0.1ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 01:24:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 01:24:53 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 01:24:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 01:24:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:24:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:24:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:24:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:24:53 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 01:24:53 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 01:24:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 01:24:53 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: 273]
+05/15 01:24:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 01:24:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 01:24:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.040172m	[env.py: 870]
+05/15 01:24:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 01:24:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 01:24:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 01:24:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -67.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:24:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 118.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:24:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.17005257 -0.48013225  0.0401717 ] yaw=-153.5deg	[env.py: 1019]
+05/15 01:24:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 01:24:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 141.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:24:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 140.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:24:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.12007934 -0.68144108  0.0401717 ] yaw=-180.7deg	[env.py: 1019]
+05/15 01:24:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 01:24:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.53003729 -0.09350668  0.0401717 ] yaw=-153.6deg	[env.py: 1019]
+05/15 01:24:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 01:24:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 01:24:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=158.6ms, total=158.7ms	[env.py: 1075]
+05/15 01:24:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.170, -0.480, 0.040)	[env.py: 1079]
+05/15 01:24:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -153.5 deg	[env.py: 1082]
+05/15 01:24:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.965m	[env.py: 1086]
+05/15 01:24:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:24:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:24:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:24:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:24:54 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 01:24:54 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/15 01:24:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s	[base_object_manipulation_planner_policy.py: 377]
+05/15 01:24:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 01:24:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 01:24:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 01:24:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 01:24:54 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 01:24:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 01:24:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:24:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:24:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:24:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:24:54 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 01:24:54 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 01:24:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 01:24:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.072m, effective arm-mount z=0.932m (base_body_z=0.072m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 01:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 01:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 01:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.072477m	[env.py: 870]
+05/15 01:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 01:24:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 01:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 01:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 166.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 71.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 74.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.00386385 -0.34341203  0.07247672] yaw=-156.7deg	[env.py: 1019]
+05/15 01:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 01:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 155.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.289519    0.02241089  0.07247672] yaw=-138.8deg	[env.py: 1019]
+05/15 01:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 01:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 01:24:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=208.9ms, total=209.0ms	[env.py: 1075]
+05/15 01:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.004, -0.343, 0.072)	[env.py: 1079]
+05/15 01:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -156.7 deg	[env.py: 1082]
+05/15 01:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.177m	[env.py: 1086]
+05/15 01:24:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:24:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:24:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:24:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:24:55 INFO: [Worker 0] Feasibility-checked 80 grasps in 2.821s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 01:24:55 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.116[m] 2.643[deg]	[grasp_sample.py: 539]
+05/15 01:24:55 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 01:24:55 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 01:24:55 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/15 01:24:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
+05/15 01:24:55 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]
+05/15 01:24:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 01:24:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 01:24:55 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_006	[save_utils.py: 785]
+05/15 01:24:55 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 17.77s (batch: 5.92s, save: 11.86s)	[pipeline.py: 300]
+05/15 01:24:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 01:24:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.110s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 01:24:55 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.411[m] 70.691[deg]	[grasp_sample.py: 539]
+05/15 01:24:55 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 01:24:55 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:24:55 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 01:24:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 01:24:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:24:56 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.78s:
+  episode_total: mean=197.61s, total=197.61s, count=1, min=197607.1ms, max=197607.1ms
+  sensor_polling: mean=452.2ms, total=135.66s, count=300, min=409.0ms, max=977.6ms
+  save_trajectories: mean=11.86s, total=11.86s, count=1, min=11858.2ms, max=11858.2ms
+  physics_step: mean=24.8ms, total=7.43s, count=300, min=17.7ms, max=127.3ms
+  save_batch_prep: mean=5.92s, total=5.92s, count=1, min=5916.4ms, max=5916.4ms
+  task_sampling: mean=783.3ms, total=783.3ms, count=1, min=783.3ms, max=783.3ms
+  task_specific_sample: mean=777.9ms, total=777.9ms, count=1, min=777.9ms, max=777.9ms
+  scene_randomize: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms
+  mj_forward_sync: mean=715.2us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
+  policy_setup: mean=50.7us, 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]
+05/15 01:24:56 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 01:24:58 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.912s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 01:24:58 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 01:24:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 01:24:58 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 01:24:58 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 01:24:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:24:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:24:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:24:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:24:58 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 01:24:58 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 01:24:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 01:24:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.091m, effective arm-mount z=0.769m (base_body_z=-0.091m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 01:24:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 01:24:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 01:24:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.090642m	[env.py: 870]
+05/15 01:24:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 01:24:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 01:24:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 01:24:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 176.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:24:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.06751569 -1.09127295 -0.09064238] yaw=178.1deg	[env.py: 1019]
+05/15 01:24:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 01:24:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.24706112 -0.47971711 -0.09064238] yaw=-138.2deg	[env.py: 1019]
+05/15 01:24:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 01:24:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.08784261 -0.6769774  -0.09064238] yaw=-155.6deg	[env.py: 1019]
+05/15 01:24:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 01:24:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 01:24:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=114.8ms, total=114.9ms	[env.py: 1075]
+05/15 01:24:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.068, -1.091, -0.091)	[env.py: 1079]
+05/15 01:24:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 178.1 deg	[env.py: 1082]
+05/15 01:24:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.044m	[env.py: 1086]
+05/15 01:24:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:24:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:24:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:24:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:24:59 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 01:24:59 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/15 01:24:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.130s	[base_object_manipulation_planner_policy.py: 377]
+05/15 01:24:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 01:24:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 01:24:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.084s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 01:25:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 01:25:00 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 01:25:00 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 01:25:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:25:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:25:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:25:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:25:00 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 01:25:00 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 01:25:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 01:25:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.037m, effective arm-mount z=0.823m (base_body_z=-0.037m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 01:25:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 01:25:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 01:25:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.037456m	[env.py: 870]
+05/15 01:25:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 01:25:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 01:25:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 01:25:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.05869025 -0.63454862 -0.03745615] yaw=-152.4deg	[env.py: 1019]
+05/15 01:25:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 01:25:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 156.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:25:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.02220428 -1.19283267 -0.03745615] yaw=154.2deg	[env.py: 1019]
+05/15 01:25:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 01:25:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.3089959  -0.23826429 -0.03745615] yaw=-133.4deg	[env.py: 1019]
+05/15 01:25:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 01:25:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 01:25:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=121.4ms, total=121.4ms	[env.py: 1075]
+05/15 01:25:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.059, -0.635, -0.037)	[env.py: 1079]
+05/15 01:25:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -152.4 deg	[env.py: 1082]
+05/15 01:25:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.032m	[env.py: 1086]
+05/15 01:25:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:25:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:25:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:25:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:25:00 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 01:25:00 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/15 01:25:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s	[base_object_manipulation_planner_policy.py: 377]
+05/15 01:25:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 01:25:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 01:25:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 01:25:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.070s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 01:25:03 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.706[m] 88.457[deg]	[grasp_sample.py: 539]
+05/15 01:25:03 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 01:25:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 01:25:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:25:04 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 01:25:04 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.159s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 01:25:04 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.697[m] 96.273[deg]	[grasp_sample.py: 539]
+05/15 01:25:04 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:25:06 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/15 01:25:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 01:25:07 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 01:25:07 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 01:25:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:25:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:25:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:25:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:25:07 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 01:25:07 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 01:25:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 01:25:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.054m, effective arm-mount z=0.806m (base_body_z=-0.054m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 01:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 01:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 01:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.053802m	[env.py: 870]
+05/15 01:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 01:25:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 01:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 01:25:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.07085927 -0.60209607 -0.0538017 ] yaw=-154.5deg	[env.py: 1019]
+05/15 01:25:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 01:25:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -147.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:25:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 57.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:25:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.06123197 -1.17647783 -0.0538017 ] yaw=135.8deg	[env.py: 1019]
+05/15 01:25:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 01:25:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 115.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:25:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.61890187 -0.13359488 -0.0538017 ] yaw=-123.9deg	[env.py: 1019]
+05/15 01:25:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 01:25:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 01:25:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=268.3ms, total=268.4ms	[env.py: 1075]
+05/15 01:25:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.071, -0.602, -0.054)	[env.py: 1079]
+05/15 01:25:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -154.5 deg	[env.py: 1082]
+05/15 01:25:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.026m	[env.py: 1086]
+05/15 01:25:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:25:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:25:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:25:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:25:08 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 01:25:08 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/15 01:25:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s	[base_object_manipulation_planner_policy.py: 377]
+05/15 01:25:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 01:25:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 01:25:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 01:25:11 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.623s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 01:25:11 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.823[m] 115.832[deg]	[grasp_sample.py: 539]
+05/15 01:25:11 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 01:25:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 01:25:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:25:12 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 01:25:14 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 01:25:18 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/15 01:25:18 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 01:25:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 01:25:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 01:25:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.088s, found 82 non-colliding grasps	[grasp_sample.py: 465]
+05/15 01:25:21 INFO: [Worker 0] Feasibility-checked 82 grasps in 2.724s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 01:25:21 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.116[m] 2.887[deg]	[grasp_sample.py: 539]
+05/15 01:25:21 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 01:25:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 01:25:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:25:32 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:25:34 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:25:42 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 01:25:44 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 01:25:46 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:25:49 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:25:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:25:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:25:52 INFO: [Worker 0] Object is not in grasp! 0.00148 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/15 01:25:52 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 01:25:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 01:25:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 01:25:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.086s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 01:25:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.704s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 01:25:55 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.205[m] 17.169[deg]	[grasp_sample.py: 539]
+05/15 01:25:55 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 01:25:55 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 01:25:55 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:26:10 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/15 01:26:10 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=False episode_total=1.47s:
+  episode_total: mean=82.12s, total=164.25s, count=2, min=3589.2ms, max=160658.6ms
+  sensor_polling: mean=449.0ms, total=134.69s, count=300, min=384.2ms, max=1085.6ms
+  physics_step: mean=25.4ms, total=7.63s, count=300, min=21.2ms, max=34.7ms
+  task_sampling: mean=736.5ms, total=1.47s, count=2, min=648.5ms, max=824.6ms
+  task_specific_sample: mean=733.0ms, total=1.47s, count=2, min=645.4ms, max=820.6ms
+  scene_randomize: mean=1.9ms, total=3.7ms, count=2, min=1.2ms, max=2.5ms
+  mj_forward_sync: mean=454.0us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=21.6us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 01:26:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 01:26:12 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 01:26:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 01:26:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:26:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:26:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:26:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:26:12 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 01:26:12 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 01:26:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 01:26:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.070m, effective arm-mount z=0.790m (base_body_z=-0.070m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 01:26:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 01:26:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 01:26:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.070419m	[env.py: 870]
+05/15 01:26:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 01:26:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 01:26:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 01:26:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -75.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:26:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -149.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:26:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 130.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:26:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -157.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:26:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 114.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:26:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.33937031 -0.26189967 -0.07041853] yaw=-120.4deg	[env.py: 1019]
+05/15 01:26:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 01:26:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.21479477 -0.17903599 -0.07041853] yaw=-159.0deg	[env.py: 1019]
+05/15 01:26:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 01:26:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.17562765 -0.41826774 -0.07041853] yaw=-137.1deg	[env.py: 1019]
+05/15 01:26:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 01:26:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 01:26:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=228.1ms, total=228.1ms	[env.py: 1075]
+05/15 01:26:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.339, -0.262, -0.070)	[env.py: 1079]
+05/15 01:26:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -120.4 deg	[env.py: 1082]
+05/15 01:26:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.920m	[env.py: 1086]
+05/15 01:26:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:26:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:26:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:26:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:26:12 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 01:26:12 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/15 01:26:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s	[base_object_manipulation_planner_policy.py: 377]
+05/15 01:26:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 01:26:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 01:26:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 01:26:15 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:26:17 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.510s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 01:26:17 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.609[m] 88.599[deg]	[grasp_sample.py: 539]
+05/15 01:26:17 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 01:26:18 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 01:26:18 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:26:18 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 01:26:26 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 01:26:30 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:26:41 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:26:51 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 01:26:56 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:27:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:27:20 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 01:27:24 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:27:31 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 01:27:44 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/15 01:27:44 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=False episode_total=1.59s:
+  episode_total: mean=55.57s, total=166.70s, count=3, min=3670.8ms, max=156993.3ms
+  sensor_polling: mean=476.5ms, total=142.96s, count=300, min=406.9ms, max=852.8ms
+  physics_step: mean=25.9ms, total=7.78s, count=300, min=17.6ms, max=36.8ms
+  task_sampling: mean=529.1ms, total=1.59s, count=3, min=429.3ms, max=592.8ms
+  task_specific_sample: mean=525.6ms, total=1.58s, count=3, min=425.4ms, max=589.8ms
+  scene_randomize: mean=1.5ms, total=4.5ms, count=3, min=1.2ms, max=1.8ms
+  mj_forward_sync: mean=470.7us, total=1.4ms, count=3, min=0.4ms, max=0.5ms
+  policy_setup: mean=22.7us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 01:27:45 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 01:27:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 01:27:46 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 01:27:46 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 01:27:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:27:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:27:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:27:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:27:46 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 01:27:46 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 01:27:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 01:27:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.083m, effective arm-mount z=0.943m (base_body_z=0.083m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 01:27:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 01:27:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 01:27:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.083431m	[env.py: 870]
+05/15 01:27:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 01:27:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 01:27:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 01:27:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 120.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:27:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.26538426 -1.15669261  0.08343131] yaw=144.7deg	[env.py: 1019]
+05/15 01:27:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 01:27:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 129.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:27:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -59.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:27:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.18195111 -1.09852961  0.08343131] yaw=146.7deg	[env.py: 1019]
+05/15 01:27:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 01:27:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 01:27:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=331.9ms, total=332.0ms	[env.py: 1075]
+05/15 01:27:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.265, -1.157, 0.083)	[env.py: 1079]
+05/15 01:27:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 144.7 deg	[env.py: 1082]
+05/15 01:27:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.878m	[env.py: 1086]
+05/15 01:27:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:27:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:27:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:27:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:27:47 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 01:27:47 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/15 01:27:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.095s	[base_object_manipulation_planner_policy.py: 377]
+05/15 01:27:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 01:27:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 01:27:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 01:27:48 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.014s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 01:27:48 INFO: [Worker 0] Feasible grasp found 46 (originally 46): w/ 0.576[m] 125.750[deg]	[grasp_sample.py: 539]
+05/15 01:27:48 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 01:27:49 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 01:27:49 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:27:49 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 01:28:02 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/15 01:28:02 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/15 01:28:02 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 01:28:16 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/15 01:28:16 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/15 01:28:16 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 01:28:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 01:28:17 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_006	[save_utils.py: 785]
+05/15 01:28:17 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 15.52s (batch: 4.05s, save: 11.47s)	[pipeline.py: 300]
+05/15 01:28:18 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=1.01s:
+  episode_total: mean=103.81s, total=207.62s, count=2, min=3358.2ms, max=204263.7ms
+  sensor_polling: mean=480.5ms, total=144.16s, count=300, min=405.7ms, max=1119.2ms
+  save_trajectories: mean=11.47s, total=11.47s, count=1, min=11466.0ms, max=11466.0ms
+  physics_step: mean=28.6ms, total=8.59s, count=300, min=21.8ms, max=39.6ms
+  save_batch_prep: mean=4.05s, total=4.05s, count=1, min=4049.0ms, max=4049.0ms
+  task_sampling: mean=503.3ms, total=1.01s, count=2, min=423.2ms, max=583.5ms
+  task_specific_sample: mean=500.0ms, total=999.9ms, count=2, min=420.3ms, max=579.6ms
+  scene_randomize: mean=1.8ms, total=3.7ms, count=2, min=1.2ms, max=2.5ms
+  mj_forward_sync: mean=484.4us, total=1.0ms, count=2, min=0.5ms, max=0.5ms
+  policy_setup: mean=20.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 01:28:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 01:28:19 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 01:28:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 01:28:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:28:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:28:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:28:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:28:19 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 01:28:19 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 01:28:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 01:28:19 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: 273]
+05/15 01:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 01:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 01:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.050377m	[env.py: 870]
+05/15 01:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 01:28:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 01:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 01:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.22401491 -0.04703336  0.05037705] yaw=-136.1deg	[env.py: 1019]
+05/15 01:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 01:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.21631225 -1.06552913  0.05037705] yaw=175.7deg	[env.py: 1019]
+05/15 01:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 01:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 110.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -54.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.22777455 -0.76797024  0.05037705] yaw=-160.7deg	[env.py: 1019]
+05/15 01:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 01:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 01:28:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=109.5ms, total=109.5ms	[env.py: 1075]
+05/15 01:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.224, -0.047, 0.050)	[env.py: 1079]
+05/15 01:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -136.1 deg	[env.py: 1082]
+05/15 01:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.146m	[env.py: 1086]
+05/15 01:28:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:28:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:28:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:28:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:28:19 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 01:28:19 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/15 01:28:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.114s	[base_object_manipulation_planner_policy.py: 377]
+05/15 01:28:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 01:28:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 01:28:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 01:28:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.736s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 01:28:22 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 01:28:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 01:28:24 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 01:28:24 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 01:28:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:28:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:28:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:28:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:28:24 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 01:28:24 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 01:28:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 01:28:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.036m, effective arm-mount z=0.824m (base_body_z=-0.036m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 01:28:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 01:28:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 01:28:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.036130m	[env.py: 870]
+05/15 01:28:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 01:28:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 01:28:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 01:28:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -68.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:28:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.38421202 -0.40458178 -0.03612984] yaw=-158.3deg	[env.py: 1019]
+05/15 01:28:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 01:28:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.10286257 -0.59101046 -0.03612984] yaw=-154.1deg	[env.py: 1019]
+05/15 01:28:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 01:28:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 154.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:28:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -36.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:28:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.04843551 -1.29035321 -0.03612984] yaw=133.5deg	[env.py: 1019]
+05/15 01:28:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 01:28:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 01:28:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=263.5ms, total=263.5ms	[env.py: 1075]
+05/15 01:28:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.384, -0.405, -0.036)	[env.py: 1079]
+05/15 01:28:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -158.3 deg	[env.py: 1082]
+05/15 01:28:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.803m	[env.py: 1086]
+05/15 01:28:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:28:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:28:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:28:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:28:24 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 01:28:24 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/15 01:28:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s	[base_object_manipulation_planner_policy.py: 377]
+05/15 01:28:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 01:28:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 01:28:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.086s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 01:28:25 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.895s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 01:28:25 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.312[m] 85.675[deg]	[grasp_sample.py: 539]
+05/15 01:28:25 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 01:28:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 01:28:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:28:26 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 01:28:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 01:28:34 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_006	[save_utils.py: 785]
+05/15 01:28:34 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 17.22s (batch: 5.96s, save: 11.26s)	[pipeline.py: 300]
+05/15 01:28:34 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.46s:
+  episode_total: mean=216.03s, total=216.03s, count=1, min=216031.8ms, max=216031.8ms
+  sensor_polling: mean=490.3ms, total=147.09s, count=300, min=408.9ms, max=1012.9ms
+  save_trajectories: mean=11.26s, total=11.26s, count=1, min=11258.7ms, max=11258.7ms
+  physics_step: mean=27.1ms, total=8.13s, count=300, min=16.7ms, max=34.8ms
+  save_batch_prep: mean=5.96s, total=5.96s, count=1, min=5962.6ms, max=5962.6ms
+  task_sampling: mean=461.8ms, total=461.8ms, count=1, min=461.8ms, max=461.8ms
+  task_specific_sample: mean=457.6ms, total=457.6ms, count=1, min=457.6ms, max=457.6ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=497.9us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=25.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 01:28:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 01:28:36 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 01:28:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 01:28:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:28:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:28:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:28:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:28:36 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 01:28:36 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 01:28:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 01:28:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.070m, effective arm-mount z=0.790m (base_body_z=-0.070m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 01:28:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 01:28:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 01:28:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.069533m	[env.py: 870]
+05/15 01:28:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 01:28:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 01:28:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 01:28:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 71.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:28:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.1287398  -0.8688682  -0.06953325] yaw=161.2deg	[env.py: 1019]
+05/15 01:28:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 01:28:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -178.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:28:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 123.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:28:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 135.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:28:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.05505421 -0.79911015 -0.06953325] yaw=-202.3deg	[env.py: 1019]
+05/15 01:28:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 01:28:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.11243357 -0.46656893 -0.06953325] yaw=-148.7deg	[env.py: 1019]
+05/15 01:28:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 01:28:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 01:28:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=169.4ms, total=169.4ms	[env.py: 1075]
+05/15 01:28:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.129, -0.869, -0.070)	[env.py: 1079]
+05/15 01:28:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 161.2 deg	[env.py: 1082]
+05/15 01:28:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.947m	[env.py: 1086]
+05/15 01:28:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:28:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:28:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:28:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:28:37 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 01:28:37 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/15 01:28:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.109s	[base_object_manipulation_planner_policy.py: 377]
+05/15 01:28:37 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]
+05/15 01:28:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 01:28:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 01:28:38 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.859s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 01:28:38 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.735[m] 116.974[deg]	[grasp_sample.py: 539]
+05/15 01:28:38 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 01:28:39 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 01:28:39 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:28:39 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 01:28:39 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 01:28:50 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:28:56 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:28:59 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 01:29:03 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:29:06 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 01:29:11 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:29:12 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/15 01:29:12 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/15 01:29:12 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 01:29:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 01:29:29 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_006	[save_utils.py: 785]
+05/15 01:29:29 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 16.94s (batch: 5.04s, save: 11.90s)	[pipeline.py: 300]
+05/15 01:29:30 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.51s:
+  episode_total: mean=197.80s, total=197.80s, count=1, min=197804.7ms, max=197804.7ms
+  sensor_polling: mean=438.8ms, total=131.63s, count=300, min=372.3ms, max=1045.7ms
+  save_trajectories: mean=11.90s, total=11.90s, count=1, min=11899.2ms, max=11899.2ms
+  physics_step: mean=25.2ms, total=7.56s, count=300, min=18.0ms, max=33.8ms
+  save_batch_prep: mean=5.04s, total=5.04s, count=1, min=5040.3ms, max=5040.3ms
+  task_sampling: mean=514.8ms, total=514.8ms, count=1, min=514.8ms, max=514.8ms
+  task_specific_sample: mean=511.7ms, total=511.7ms, count=1, min=511.7ms, max=511.7ms
+  scene_randomize: mean=1.5ms, total=1.5ms, count=1, min=1.5ms, max=1.5ms
+  mj_forward_sync: mean=593.7us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=21.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 01:29:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 01:29:31 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 01:29:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 01:29:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:29:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:29:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:29:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:29:31 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 01:29:31 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 01:29:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 01:29:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.094m, effective arm-mount z=0.766m (base_body_z=-0.094m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 01:29:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 01:29:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 01:29:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.094098m	[env.py: 870]
+05/15 01:29:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 01:29:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 01:29:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 01:29:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.02172217 -0.42845414 -0.09409754] yaw=-146.7deg	[env.py: 1019]
+05/15 01:29:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 01:29:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 135.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:29:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 144.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:29:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 170.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:29:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 160.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:29:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 01:29:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=310.7ms, total=310.7ms	[env.py: 1075]
+05/15 01:29:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.022, -0.428, -0.094)	[env.py: 1079]
+05/15 01:29:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -146.7 deg	[env.py: 1082]
+05/15 01:29:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.163m	[env.py: 1086]
+05/15 01:29:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:29:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:29:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:29:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:29:32 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 01:29:32 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/15 01:29:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.129s	[base_object_manipulation_planner_policy.py: 377]
+05/15 01:29:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 01:29:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 01:29:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 01:29:35 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.745s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 01:29:35 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 01:29:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 01:29:36 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 01:29:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 01:29:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:29:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:29:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:29:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:29:36 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 01:29:36 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 01:29:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 01:29:36 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: 273]
+05/15 01:29:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 01:29:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 01:29:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.000820m	[env.py: 870]
+05/15 01:29:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 01:29:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 01:29:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 01:29:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 90.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:29:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 91.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:29:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-2.19163803e-01 -9.29524447e-01  8.20149718e-04] yaw=182.2deg	[env.py: 1019]
+05/15 01:29:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 01:29:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -29.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:29:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.26881388e-01 -9.82175610e-01  8.20149718e-04] yaw=176.9deg	[env.py: 1019]
+05/15 01:29:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 01:29:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.30696267e-01 -1.16440958e+00  8.20149718e-04] yaw=182.6deg	[env.py: 1019]
+05/15 01:29:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 01:29:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 01:29:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=284.0ms, total=284.0ms	[env.py: 1075]
+05/15 01:29:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.219, -0.930, 0.001)	[env.py: 1079]
+05/15 01:29:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 182.2 deg	[env.py: 1082]
+05/15 01:29:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.863m	[env.py: 1086]
+05/15 01:29:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:29:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:29:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:29:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:29:37 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 01:29:37 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/15 01:29:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s	[base_object_manipulation_planner_policy.py: 377]
+05/15 01:29:37 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]
+05/15 01:29:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 01:29:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 01:29:38 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.778s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 01:29:38 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.531[m] 117.538[deg]	[grasp_sample.py: 539]
+05/15 01:29:38 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 01:29:39 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 01:29:39 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:29:39 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 01:30:00 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:30:09 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 01:30:14 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:30:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:30:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:30:33 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:30:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:30:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:30:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:30:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:30:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:30:42 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 01:30:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:30:42 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 01:30:42 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 01:30:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 01:30:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 01:30:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.095s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/15 01:30:43 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.731s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 01:30:43 INFO: [Worker 0] Feasible grasp found 42 (originally 42): w/ 0.105[m] 0.645[deg]	[grasp_sample.py: 539]
+05/15 01:30:43 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 01:30:44 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 01:30:44 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:30:45 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 01:30:45 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:30:46 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 01:31:12 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 01:31:13 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/15 01:31:13 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/15 01:31:13 INFO: [Worker 0] Preparing episode data: 286 timesteps	[save_utils.py: 278]
+05/15 01:31:16 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/15 01:31:16 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/15 01:31:16 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 01:31:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 01:31:32 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_006	[save_utils.py: 785]
+05/15 01:31:32 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 18.42s (batch: 8.05s, save: 10.38s)	[pipeline.py: 300]
+05/15 01:31:32 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.96s:
+  episode_total: mean=95.98s, total=191.95s, count=2, min=3369.3ms, max=188584.5ms
+  sensor_polling: mean=457.6ms, total=130.42s, count=285, min=405.8ms, max=1089.7ms
+  save_trajectories: mean=10.38s, total=10.38s, count=1, min=10377.9ms, max=10377.9ms
+  save_batch_prep: mean=8.05s, total=8.05s, count=1, min=8045.1ms, max=8045.1ms
+  physics_step: mean=26.1ms, total=7.42s, count=285, min=21.8ms, max=36.6ms
+  task_sampling: mean=480.0ms, total=960.1ms, count=2, min=421.1ms, max=538.9ms
+  task_specific_sample: mean=475.5ms, total=951.0ms, count=2, min=415.3ms, max=535.7ms
+  scene_randomize: mean=2.8ms, total=5.6ms, count=2, min=1.2ms, max=4.5ms
+  mj_forward_sync: mean=449.7us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=19.6us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 01:31:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 01:31:33 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_006	[save_utils.py: 785]
+05/15 01:31:33 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 16.56s (batch: 5.02s, save: 11.54s)	[pipeline.py: 300]
+05/15 01:31:34 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.61s:
+  episode_total: mean=227.30s, total=227.30s, count=1, min=227302.9ms, max=227302.9ms
+  sensor_polling: mean=478.5ms, total=143.55s, count=300, min=375.7ms, max=976.1ms
+  save_trajectories: mean=11.54s, total=11.54s, count=1, min=11535.4ms, max=11535.4ms
+  physics_step: mean=25.6ms, total=7.67s, count=300, min=16.8ms, max=37.0ms
+  save_batch_prep: mean=5.02s, total=5.02s, count=1, min=5021.4ms, max=5021.4ms
+  task_sampling: mean=606.5ms, total=606.5ms, count=1, min=606.5ms, max=606.5ms
+  task_specific_sample: mean=602.6ms, total=602.6ms, count=1, min=602.6ms, max=602.6ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=530.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=13.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 01:31:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 01:31:34 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 01:31:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 01:31:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:31:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:31:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:31:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:31:34 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 01:31:34 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 01:31:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 01:31:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.000m, effective arm-mount z=0.860m (base_body_z=-0.000m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 01:31:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 01:31:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 01:31:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.000092m	[env.py: 870]
+05/15 01:31:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 01:31:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 01:31:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 01:31:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-2.23275812e-01 -9.92435374e-01 -9.23761452e-05] yaw=148.0deg	[env.py: 1019]
+05/15 01:31:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 01:31:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -51.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:31:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -34.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:31:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 62.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:31:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 68.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:31:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-5.77181991e-02 -1.26890742e+00 -9.23761452e-05] yaw=142.9deg	[env.py: 1019]
+05/15 01:31:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 01:31:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-3.16294371e-01 -4.70545197e-01 -9.23761452e-05] yaw=-140.5deg	[env.py: 1019]
+05/15 01:31:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 01:31:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 01:31:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=157.0ms, total=157.0ms	[env.py: 1075]
+05/15 01:31:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.223, -0.992, -0.000)	[env.py: 1079]
+05/15 01:31:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 148.0 deg	[env.py: 1082]
+05/15 01:31:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.869m	[env.py: 1086]
+05/15 01:31:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:31:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:31:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:31:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:31:34 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 01:31:34 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/15 01:31:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.116s	[base_object_manipulation_planner_policy.py: 377]
+05/15 01:31:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 01:31:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 01:31:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 01:31:35 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.871s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 01:31:35 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.437[m] 89.855[deg]	[grasp_sample.py: 539]
+05/15 01:31:35 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 01:31:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 01:31:36 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 01:31:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 01:31:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:31:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:31:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:31:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:31:36 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 01:31:36 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 01:31:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 01:31:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.000m, effective arm-mount z=0.860m (base_body_z=0.000m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 01:31:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 01:31:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 01:31:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.000307m	[env.py: 870]
+05/15 01:31:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 01:31:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 01:31:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 01:31:36 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 01:31:36 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:31:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -62.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:31:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 81.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:31:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.24483668  0.00537523  0.00030704] yaw=-127.8deg	[env.py: 1019]
+05/15 01:31:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 01:31:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -158.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:31:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 112.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:31:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 01:31:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=232.0ms, total=232.0ms	[env.py: 1075]
+05/15 01:31:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.245, 0.005, 0.000)	[env.py: 1079]
+05/15 01:31:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -127.8 deg	[env.py: 1082]
+05/15 01:31:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.167m	[env.py: 1086]
+05/15 01:31:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:31:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:31:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:31:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:31:36 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 01:31:36 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/15 01:31:36 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 01:31:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.109s	[base_object_manipulation_planner_policy.py: 377]
+05/15 01:31:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 01:31:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 01:31:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 01:31:39 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.585s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 01:31:39 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 01:31:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 01:31:41 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 01:31:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 01:31:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:31:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:31:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:31:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:31:41 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 01:31:41 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 01:31:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 01:31:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.067m, effective arm-mount z=0.793m (base_body_z=-0.067m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 01:31:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 01:31:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 01:31:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.067202m	[env.py: 870]
+05/15 01:31:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 01:31:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 01:31:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 01:31:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 63.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:31:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 178.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:31:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 132.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:31:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -33.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:31:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.19731321 -0.26777262 -0.0672025 ] yaw=-130.8deg	[env.py: 1019]
+05/15 01:31:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 01:31:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.45359037 -0.11153015 -0.0672025 ] yaw=-113.9deg	[env.py: 1019]
+05/15 01:31:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 01:31:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.07435488 -1.09419396 -0.0672025 ] yaw=175.3deg	[env.py: 1019]
+05/15 01:31:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 01:31:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 01:31:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=228.5ms, total=228.6ms	[env.py: 1075]
+05/15 01:31:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.197, -0.268, -0.067)	[env.py: 1079]
+05/15 01:31:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -130.8 deg	[env.py: 1082]
+05/15 01:31:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.034m	[env.py: 1086]
+05/15 01:31:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:31:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:31:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:31:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:31:42 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 01:31:42 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/15 01:31:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s	[base_object_manipulation_planner_policy.py: 377]
+05/15 01:31:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 01:31:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 01:31:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 01:31:42 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/15 01:31:42 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/15 01:31:42 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 01:31:48 INFO: [Worker 0] Feasibility-checked 88 grasps in 6.194s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 01:31:48 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.674[m] 89.366[deg]	[grasp_sample.py: 539]
+05/15 01:31:48 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 01:31:48 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 01:31:48 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:31:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:32:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 01:32:00 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_006	[save_utils.py: 785]
+05/15 01:32:00 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 17.96s (batch: 6.50s, save: 11.46s)	[pipeline.py: 300]
+05/15 01:32:00 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=1.03s:
+  episode_total: mean=204.34s, total=204.34s, count=1, min=204335.6ms, max=204335.6ms
+  sensor_polling: mean=479.7ms, total=143.90s, count=300, min=416.5ms, max=1134.1ms
+  save_trajectories: mean=11.46s, total=11.46s, count=1, min=11459.8ms, max=11459.8ms
+  physics_step: mean=24.9ms, total=7.47s, count=300, min=19.2ms, max=46.3ms
+  save_batch_prep: mean=6.50s, total=6.50s, count=1, min=6498.9ms, max=6498.9ms
+  task_sampling: mean=1.03s, total=1.03s, count=1, min=1028.7ms, max=1028.7ms
+  task_specific_sample: mean=1.02s, total=1.02s, count=1, min=1024.7ms, max=1024.7ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=460.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=19.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 01:32:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:32:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 01:32:02 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 01:32:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 01:32:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:32:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:32:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:32:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:32:02 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 01:32:02 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 01:32:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 01:32:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.021m, effective arm-mount z=0.881m (base_body_z=0.021m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 01:32:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 01:32:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 01:32:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.021052m	[env.py: 870]
+05/15 01:32:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 01:32:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 01:32:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 01:32:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 91.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:32:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -55.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:32:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -175.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:32:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.39354251 -0.37045935  0.02105178] yaw=-168.4deg	[env.py: 1019]
+05/15 01:32:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 01:32:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 66.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:32:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.25377857 -0.7018596   0.02105178] yaw=-152.8deg	[env.py: 1019]
+05/15 01:32:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 01:32:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.16212739 -0.85061574  0.02105178] yaw=192.4deg	[env.py: 1019]
+05/15 01:32:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 01:32:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 01:32:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=223.1ms, total=223.1ms	[env.py: 1075]
+05/15 01:32:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.394, -0.370, 0.021)	[env.py: 1079]
+05/15 01:32:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -168.4 deg	[env.py: 1082]
+05/15 01:32:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.814m	[env.py: 1086]
+05/15 01:32:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:32:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:32:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:32:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:32:02 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 01:32:02 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/15 01:32:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.197s	[base_object_manipulation_planner_policy.py: 377]
+05/15 01:32:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 01:32:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 01:32:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:32:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 01:32:04 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.028s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 01:32:04 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.464[m] 97.098[deg]	[grasp_sample.py: 539]
+05/15 01:32:04 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 01:32:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 01:32:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:32:05 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 01:32:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:32:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:32:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:32:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:32:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:32:12 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 01:32:12 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 01:32:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 01:32:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 01:32:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.091s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/15 01:32:13 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.826s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 01:32:13 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.058[m] 1.792[deg]	[grasp_sample.py: 539]
+05/15 01:32:15 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/15 01:32:15 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:32:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 01:32:17 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 01:32:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 01:32:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:32:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:32:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:32:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:32:17 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 01:32:17 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 01:32:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 01:32:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.001m, effective arm-mount z=0.859m (base_body_z=-0.001m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 01:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 01:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 01:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.001137m	[env.py: 870]
+05/15 01:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 01:32:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 01:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 01:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.11301642 -0.90483951 -0.00113734] yaw=181.5deg	[env.py: 1019]
+05/15 01:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 01:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.02221349 -1.08962709 -0.00113734] yaw=147.4deg	[env.py: 1019]
+05/15 01:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 01:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -36.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 110.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -76.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.22591503 -1.07195199 -0.00113734] yaw=139.5deg	[env.py: 1019]
+05/15 01:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 01:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 01:32:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=172.3ms, total=172.3ms	[env.py: 1075]
+05/15 01:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.113, -0.905, -0.001)	[env.py: 1079]
+05/15 01:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 181.5 deg	[env.py: 1082]
+05/15 01:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.191m	[env.py: 1086]
+05/15 01:32:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:32:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:32:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:32:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:32:17 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 01:32:17 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/15 01:32:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s	[base_object_manipulation_planner_policy.py: 377]
+05/15 01:32:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 01:32:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 01:32:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 01:32:20 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.621s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 01:32:20 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 01:32:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 01:32:22 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 01:32:22 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 01:32:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:32:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:32:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:32:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:32:22 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 01:32:22 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 01:32:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 01:32:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.033m, effective arm-mount z=0.893m (base_body_z=0.033m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 01:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 01:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 01:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.033395m	[env.py: 870]
+05/15 01:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 01:32:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 01:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 01:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 106.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 85.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 100.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -61.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 113.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.05023118 -0.91534846  0.03339497] yaw=187.3deg	[env.py: 1019]
+05/15 01:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 01:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 01:32:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=193.1ms, total=193.1ms	[env.py: 1075]
+05/15 01:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.050, -0.915, 0.033)	[env.py: 1079]
+05/15 01:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 187.3 deg	[env.py: 1082]
+05/15 01:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.029m	[env.py: 1086]
+05/15 01:32:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:32:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:32:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:32:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:32:22 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 01:32:22 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/15 01:32:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s	[base_object_manipulation_planner_policy.py: 377]
+05/15 01:32:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 01:32:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 01:32:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 01:32:23 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.197s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 01:32:23 INFO: [Worker 0] Feasible grasp found 40 (originally 40): w/ 0.706[m] 52.709[deg]	[grasp_sample.py: 539]
+05/15 01:32:23 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 01:32:24 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 01:32:24 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:32:24 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 01:32:24 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 01:32:29 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:32:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:32:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:32:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:32:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:32:51 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:32:51 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:32:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:32:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:32:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:32:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:32:57 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 01:32:57 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 01:32:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 01:32:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 01:32:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.088s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/15 01:32:57 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.852s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 01:32:57 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.031[m] 0.198[deg]	[grasp_sample.py: 539]
+05/15 01:32:58 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 01:32:58 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 01:32:58 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:32:59 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 01:33:00 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 01:33:03 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:33:04 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:33:05 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:33:12 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 01:33:16 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:33:21 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:33:30 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 01:33:33 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:33:53 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/15 01:33:53 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 01:33:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 01:33:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 01:33:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/15 01:33:55 INFO: [Worker 0] Feasibility-checked 78 grasps in 2.643s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 01:33:55 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.112[m] 2.450[deg]	[grasp_sample.py: 539]
+05/15 01:33:55 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 01:33:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 01:33:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:34:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:34:13 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 01:34:30 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 01:34:34 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 01:34:37 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 01:34:42 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/15 01:34:42 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/15 01:34:42 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 01:34:58 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 01:34:58 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_006	[save_utils.py: 785]
+05/15 01:34:58 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 16.68s (batch: 4.92s, save: 11.76s)	[pipeline.py: 300]
+05/15 01:34:59 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=1.03s:
+  episode_total: mean=100.69s, total=201.37s, count=2, min=3311.2ms, max=198060.7ms
+  sensor_polling: mean=442.3ms, total=132.70s, count=300, min=406.8ms, max=1032.3ms
+  save_trajectories: mean=11.76s, total=11.76s, count=1, min=11757.5ms, max=11757.5ms
+  physics_step: mean=23.6ms, total=7.07s, count=300, min=16.8ms, max=55.9ms
+  save_batch_prep: mean=4.92s, total=4.92s, count=1, min=4923.6ms, max=4923.6ms
+  task_sampling: mean=513.3ms, total=1.03s, count=2, min=490.3ms, max=536.3ms
+  task_specific_sample: mean=509.6ms, total=1.02s, count=2, min=487.0ms, max=532.2ms
+  scene_randomize: mean=2.0ms, total=4.1ms, count=2, min=1.4ms, max=2.7ms
+  mj_forward_sync: mean=502.1us, total=1.0ms, count=2, min=0.5ms, max=0.6ms
+  policy_setup: mean=18.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 01:35:00 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/15 01:35:00 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/15 01:35:00 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 01:35:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 01:35:01 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 01:35:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 01:35:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:35:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:35:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:35:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:35:01 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 01:35:01 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 01:35:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 01:35:01 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: 273]
+05/15 01:35:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 01:35:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 01:35:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.051157m	[env.py: 870]
+05/15 01:35:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 01:35:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 01:35:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 01:35:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.04614327 -1.10378164  0.05115738] yaw=176.7deg	[env.py: 1019]
+05/15 01:35:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 01:35:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -82.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:35:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -179.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:35:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -72.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:35:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.2656892  -0.39591256  0.05115738] yaw=-180.4deg	[env.py: 1019]
+05/15 01:35:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 01:35:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 01:35:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=210.6ms, total=210.7ms	[env.py: 1075]
+05/15 01:35:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.046, -1.104, 0.051)	[env.py: 1079]
+05/15 01:35:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 176.7 deg	[env.py: 1082]
+05/15 01:35:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.157m	[env.py: 1086]
+05/15 01:35:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:35:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:35:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:35:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:35:01 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 01:35:01 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/15 01:35:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.116s	[base_object_manipulation_planner_policy.py: 377]
+05/15 01:35:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 01:35:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 01:35:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 01:35:04 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.705s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 01:35:04 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 01:35:06 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/15 01:35:06 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/15 01:35:06 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 01:35:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 01:35:07 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 01:35:07 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 01:35:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:35:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:35:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:35:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:35:07 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 01:35:07 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 01:35:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 01:35:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.098m, effective arm-mount z=0.762m (base_body_z=-0.098m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 01:35:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 01:35:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 01:35:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.098070m	[env.py: 870]
+05/15 01:35:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 01:35:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 01:35:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 01:35:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.10574095 -1.05003305 -0.09806966] yaw=167.1deg	[env.py: 1019]
+05/15 01:35:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 01:35:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.39333578  0.02322959 -0.09806966] yaw=-140.3deg	[env.py: 1019]
+05/15 01:35:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 01:35:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 60.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:35:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 120.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:35:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 62.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:35:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 01:35:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=241.1ms, total=241.1ms	[env.py: 1075]
+05/15 01:35:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.106, -1.050, -0.098)	[env.py: 1079]
+05/15 01:35:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 167.1 deg	[env.py: 1082]
+05/15 01:35:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.996m	[env.py: 1086]
+05/15 01:35:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:35:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:35:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:35:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:35:07 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 01:35:07 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/15 01:35:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
+05/15 01:35:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 01:35:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 01:35:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 01:35:08 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/15 01:35:08 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/15 01:35:08 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 01:35:10 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.728s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 01:35:10 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.602[m] 55.086[deg]	[grasp_sample.py: 539]
+05/15 01:35:10 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 01:35:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 01:35:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:35:11 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 01:35:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 01:35:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_006	[save_utils.py: 785]
+05/15 01:35:20 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 19.93s (batch: 8.74s, save: 11.19s)	[pipeline.py: 300]
+05/15 01:35:21 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.47s:
+  episode_total: mean=227.24s, total=227.24s, count=1, min=227239.6ms, max=227239.6ms
+  sensor_polling: mean=447.2ms, total=134.15s, count=300, min=408.8ms, max=1177.2ms
+  save_trajectories: mean=11.19s, total=11.19s, count=1, min=11187.8ms, max=11187.8ms
+  save_batch_prep: mean=8.74s, total=8.74s, count=1, min=8744.3ms, max=8744.3ms
+  physics_step: mean=24.1ms, total=7.24s, count=300, min=16.0ms, max=67.6ms
+  task_sampling: mean=467.4ms, total=467.4ms, count=1, min=467.4ms, max=467.4ms
+  task_specific_sample: mean=463.4ms, total=463.4ms, count=1, min=463.4ms, max=463.4ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=465.9us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  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]
+05/15 01:35:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 01:35:22 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_006	[save_utils.py: 785]
+05/15 01:35:22 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 15.92s (batch: 4.97s, save: 10.95s)	[pipeline.py: 300]
+05/15 01:35:22 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.64s:
+  episode_total: mean=200.65s, total=200.65s, count=1, min=200645.2ms, max=200645.2ms
+  sensor_polling: mean=463.4ms, total=139.03s, count=300, min=395.8ms, max=1001.5ms
+  save_trajectories: mean=10.95s, total=10.95s, count=1, min=10949.2ms, max=10949.2ms
+  physics_step: mean=24.2ms, total=7.25s, count=300, min=17.8ms, max=61.1ms
+  save_batch_prep: mean=4.97s, total=4.97s, count=1, min=4968.5ms, max=4968.5ms
+  task_sampling: mean=643.6ms, total=643.6ms, count=1, min=643.6ms, max=643.6ms
+  task_specific_sample: mean=637.2ms, total=637.2ms, count=1, min=637.2ms, max=637.2ms
+  scene_randomize: mean=5.1ms, total=5.1ms, count=1, min=5.1ms, max=5.1ms
+  mj_forward_sync: mean=461.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=17.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 01:35:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 01:35:23 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 01:35:23 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 01:35:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:35:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:35:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:35:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:35:23 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 01:35:23 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 01:35:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 01:35:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.043m, effective arm-mount z=0.817m (base_body_z=-0.043m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 01:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 01:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 01:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.042785m	[env.py: 870]
+05/15 01:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 01:35:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 01:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 01:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -36.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.12474567 -1.00263633 -0.04278513] yaw=195.2deg	[env.py: 1019]
+05/15 01:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 01:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 125.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 112.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 111.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.049804   -0.71534408 -0.04278513] yaw=-167.4deg	[env.py: 1019]
+05/15 01:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 01:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 01:35:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=337.7ms, total=337.7ms	[env.py: 1075]
+05/15 01:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.125, -1.003, -0.043)	[env.py: 1079]
+05/15 01:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 195.2 deg	[env.py: 1082]
+05/15 01:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.968m	[env.py: 1086]
+05/15 01:35:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:35:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:35:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:35:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:35:24 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 01:35:24 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/15 01:35:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.204s	[base_object_manipulation_planner_policy.py: 377]
+05/15 01:35:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 01:35:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 01:35:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 01:35:24 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 01:35:24 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 01:35:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:35:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:35:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:35:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:35:24 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 01:35:24 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 01:35:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 01:35:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.001m, effective arm-mount z=0.859m (base_body_z=-0.001m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 01:35:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 01:35:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 01:35:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.000605m	[env.py: 870]
+05/15 01:35:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 01:35:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 01:35:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 01:35:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.109s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 01:35:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.23840526 -0.32661762 -0.00060533] yaw=-171.3deg	[env.py: 1019]
+05/15 01:35:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 01:35:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 3.47368476e-02 -1.21842562e+00 -6.05325776e-04] yaw=174.6deg	[env.py: 1019]
+05/15 01:35:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 01:35:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 94.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:35:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -55.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:35:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -45.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:35:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 2.72639608e-02 -1.01272470e+00 -6.05325776e-04] yaw=171.8deg	[env.py: 1019]
+05/15 01:35:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 01:35:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 01:35:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=182.0ms, total=182.0ms	[env.py: 1075]
+05/15 01:35:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.238, -0.327, -0.001)	[env.py: 1079]
+05/15 01:35:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -171.3 deg	[env.py: 1082]
+05/15 01:35:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.969m	[env.py: 1086]
+05/15 01:35:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:35:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:35:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:35:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:35:24 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 01:35:24 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/15 01:35:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.123s	[base_object_manipulation_planner_policy.py: 377]
+05/15 01:35:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 01:35:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 01:35:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 01:35:25 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.245s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 01:35:25 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.572[m] 84.406[deg]	[grasp_sample.py: 539]
+05/15 01:35:25 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 01:35:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 01:35:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:35:26 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 01:35:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 01:35:27 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_006	[save_utils.py: 785]
+05/15 01:35:27 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 19.03s (batch: 7.47s, save: 11.56s)	[pipeline.py: 300]
+05/15 01:35:27 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.807s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 01:35:27 INFO: [Worker 0] Feasible grasp found 14 (originally 14): w/ 0.730[m] 68.122[deg]	[grasp_sample.py: 539]
+05/15 01:35:27 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 01:35:28 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=2.11s:
+  episode_total: mean=87.85s, total=351.41s, count=4, min=3210.5ms, max=186009.1ms
+  sensor_polling: mean=425.2ms, total=247.88s, count=583, min=381.8ms, max=1019.1ms
+  physics_step: mean=25.0ms, total=14.57s, count=583, min=16.8ms, max=55.7ms
+  save_trajectories: mean=11.56s, total=11.56s, count=1, min=11559.3ms, max=11559.3ms
+  save_batch_prep: mean=7.47s, total=7.47s, count=1, min=7471.9ms, max=7471.9ms
+  task_sampling: mean=528.0ms, total=2.11s, count=4, min=446.8ms, max=640.4ms
+  task_specific_sample: mean=524.5ms, total=2.10s, count=4, min=444.1ms, max=636.5ms
+  scene_randomize: mean=1.6ms, total=6.4ms, count=4, min=1.2ms, max=2.5ms
+  mj_forward_sync: mean=488.7us, total=2.0ms, count=4, min=0.4ms, max=0.6ms
+  policy_setup: mean=17.5us, 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]
+05/15 01:35:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 01:35:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:35:28 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 01:35:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 01:35:29 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 01:35:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 01:35:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:35:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:35:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:35:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:35:29 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 01:35:29 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 01:35:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 01:35:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.071m, effective arm-mount z=0.789m (base_body_z=-0.071m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 01:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 01:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 01:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.070795m	[env.py: 870]
+05/15 01:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 01:35:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 01:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 01:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 110.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -76.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 82.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -44.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -43.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.20835055 -1.01051236 -0.07079472] yaw=160.2deg	[env.py: 1019]
+05/15 01:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 01:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 01:35:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=260.2ms, total=260.3ms	[env.py: 1075]
+05/15 01:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.208, -1.011, -0.071)	[env.py: 1079]
+05/15 01:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 160.2 deg	[env.py: 1082]
+05/15 01:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.888m	[env.py: 1086]
+05/15 01:35:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:35:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:35:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:35:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:35:30 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 01:35:30 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/15 01:35:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.147s	[base_object_manipulation_planner_policy.py: 377]
+05/15 01:35:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 01:35:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 01:35:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 01:35:31 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.867s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 01:35:31 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.509[m] 94.069[deg]	[grasp_sample.py: 539]
+05/15 01:35:31 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 01:35:32 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 01:35:32 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:35:32 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 01:36:07 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:36:17 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 01:36:18 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:36:21 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:36:22 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:36:27 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 01:36:30 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 01:36:31 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:36:31 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:36:35 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:36:41 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 01:36:45 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:37:37 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 01:37:49 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 01:37:49 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 01:37:58 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 01:38:06 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/15 01:38:06 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/15 01:38:06 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 01:38:18 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/15 01:38:18 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/15 01:38:18 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 01:38:18 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/15 01:38:18 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/15 01:38:18 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 01:38:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 01:38:23 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_006	[save_utils.py: 785]
+05/15 01:38:23 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 16.75s (batch: 5.33s, save: 11.42s)	[pipeline.py: 300]
+05/15 01:38:24 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=1.04s:
+  episode_total: mean=100.25s, total=200.50s, count=2, min=3423.1ms, max=197081.8ms
+  sensor_polling: mean=455.8ms, total=136.75s, count=300, min=409.1ms, max=1072.3ms
+  save_trajectories: mean=11.42s, total=11.42s, count=1, min=11424.8ms, max=11424.8ms
+  physics_step: mean=23.8ms, total=7.14s, count=300, min=17.4ms, max=72.4ms
+  save_batch_prep: mean=5.33s, total=5.33s, count=1, min=5328.9ms, max=5328.9ms
+  task_sampling: mean=521.3ms, total=1.04s, count=2, min=510.8ms, max=531.8ms
+  task_specific_sample: mean=517.2ms, total=1.03s, count=2, min=506.6ms, max=527.8ms
+  scene_randomize: mean=2.2ms, total=4.4ms, count=2, min=1.5ms, max=2.9ms
+  mj_forward_sync: mean=473.6us, total=0.9ms, count=2, min=0.5ms, max=0.5ms
+  policy_setup: mean=18.7us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 01:38:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 01:38:25 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 01:38:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 01:38:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:38:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:38:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:38:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:38:25 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 01:38:25 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 01:38:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 01:38:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.054m, effective arm-mount z=0.914m (base_body_z=0.054m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 01:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 01:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 01:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.054496m	[env.py: 870]
+05/15 01:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 01:38:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 01:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 01:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 69.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 134.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -62.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.2444946  -1.07835147  0.05449602] yaw=164.3deg	[env.py: 1019]
+05/15 01:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 01:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 159.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.32565805 -1.22148397  0.05449602] yaw=124.3deg	[env.py: 1019]
+05/15 01:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 01:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.03773657 -0.58737124  0.05449602] yaw=-186.9deg	[env.py: 1019]
+05/15 01:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 01:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 01:38:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=251.9ms, total=252.0ms	[env.py: 1075]
+05/15 01:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.244, -1.078, 0.054)	[env.py: 1079]
+05/15 01:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 164.3 deg	[env.py: 1082]
+05/15 01:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.870m	[env.py: 1086]
+05/15 01:38:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:38:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:38:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:38:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:38:26 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 01:38:26 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/15 01:38:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.110s	[base_object_manipulation_planner_policy.py: 377]
+05/15 01:38:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 01:38:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 01:38:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 01:38:27 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.193s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 01:38:27 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.600[m] 97.930[deg]	[grasp_sample.py: 539]
+05/15 01:38:27 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 01:38:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 01:38:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:38:28 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 01:38:31 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/15 01:38:31 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/15 01:38:31 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 01:38:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 01:38:34 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_006	[save_utils.py: 785]
+05/15 01:38:34 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 16.09s (batch: 4.52s, save: 11.57s)	[pipeline.py: 300]
+05/15 01:38:35 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.52s:
+  episode_total: mean=190.77s, total=190.77s, count=1, min=190769.9ms, max=190769.9ms
+  sensor_polling: mean=439.8ms, total=131.93s, count=300, min=380.9ms, max=1029.5ms
+  save_trajectories: mean=11.57s, total=11.57s, count=1, min=11574.5ms, max=11574.5ms
+  physics_step: mean=23.1ms, total=6.92s, count=300, min=16.9ms, max=31.0ms
+  save_batch_prep: mean=4.52s, total=4.52s, count=1, min=4519.0ms, max=4519.0ms
+  task_sampling: mean=516.6ms, total=516.6ms, count=1, min=516.6ms, max=516.6ms
+  task_specific_sample: mean=512.1ms, total=512.1ms, count=1, min=512.1ms, max=512.1ms
+  scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
+  mj_forward_sync: mean=461.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=19.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 01:38:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 01:38:35 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_006	[save_utils.py: 785]
+05/15 01:38:35 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 17.07s (batch: 5.49s, save: 11.57s)	[pipeline.py: 300]
+05/15 01:38:36 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.63s:
+  episode_total: mean=186.14s, total=186.14s, count=1, min=186140.7ms, max=186140.7ms
+  sensor_polling: mean=427.2ms, total=128.15s, count=300, min=387.6ms, max=982.0ms
+  save_trajectories: mean=11.57s, total=11.57s, count=1, min=11575.0ms, max=11575.0ms
+  physics_step: mean=23.2ms, total=6.95s, count=300, min=17.9ms, max=33.5ms
+  save_batch_prep: mean=5.49s, total=5.49s, count=1, min=5492.7ms, max=5492.7ms
+  task_sampling: mean=634.6ms, total=634.6ms, count=1, min=634.6ms, max=634.6ms
+  task_specific_sample: mean=630.3ms, total=630.3ms, count=1, min=630.3ms, max=630.3ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=463.5us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=55.0us, 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]
+05/15 01:38:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 01:38:36 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 01:38:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 01:38:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:38:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:38:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:38:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:38:36 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 01:38:36 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 01:38:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 01:38:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.018m, effective arm-mount z=0.878m (base_body_z=0.018m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 01:38:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 01:38:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 01:38:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.017744m	[env.py: 870]
+05/15 01:38:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 01:38:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 01:38:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 01:38:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 126.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:38:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -58.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:38:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.17590641 -1.00307241  0.01774368] yaw=166.0deg	[env.py: 1019]
+05/15 01:38:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 01:38:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 78.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:38:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -40.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:38:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 01:38:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=711.5ms, total=711.6ms	[env.py: 1075]
+05/15 01:38:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.176, -1.003, 0.018)	[env.py: 1079]
+05/15 01:38:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 166.0 deg	[env.py: 1082]
+05/15 01:38:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.918m	[env.py: 1086]
+05/15 01:38:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:38:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:38:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:38:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:38:37 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 01:38:37 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/15 01:38:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 01:38:38 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 01:38:38 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 01:38:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s	[base_object_manipulation_planner_policy.py: 377]
+05/15 01:38:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:38:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:38:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 01:38:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:38:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:38:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 01:38:38 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 01:38:38 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: 195]
+05/15 01:38:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 01:38:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.076m, effective arm-mount z=0.784m (base_body_z=-0.076m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 01:38:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 01:38:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 01:38:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.076130m	[env.py: 870]
+05/15 01:38:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 01:38:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 01:38:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.086s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 01:38:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 01:38:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.30084605 -1.07581961 -0.07612959] yaw=139.3deg	[env.py: 1019]
+05/15 01:38:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 01:38:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 126.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:38:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -38.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:38:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 106.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:38:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 65.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.24047294 -1.25499813 -0.07612959] yaw=140.9deg	[env.py: 1019]
+05/15 01:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 01:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.33788128 -1.16238557 -0.07612959] yaw=149.7deg	[env.py: 1019]
+05/15 01:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 01:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 01:38:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=942.3ms, total=942.4ms	[env.py: 1075]
+05/15 01:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.301, -1.076, -0.076)	[env.py: 1079]
+05/15 01:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 139.3 deg	[env.py: 1082]
+05/15 01:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.816m	[env.py: 1086]
+05/15 01:38:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:38:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:38:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:38:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:38:39 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 01:38:39 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/15 01:38:39 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.277s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 01:38:39 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.563[m] 84.880[deg]	[grasp_sample.py: 539]
+05/15 01:38:39 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 01:38:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.136s	[base_object_manipulation_planner_policy.py: 377]
+05/15 01:38:39 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]
+05/15 01:38:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 01:38:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.092s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 01:38:39 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 01:38:39 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:38:40 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 01:38:40 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.891s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 01:38:40 INFO: [Worker 0] Feasible grasp found 46 (originally 46): w/ 0.596[m] 78.672[deg]	[grasp_sample.py: 539]
+05/15 01:38:40 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 01:38:41 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 01:38:41 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:38:41 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 01:38:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 01:38:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_006	[save_utils.py: 785]
+05/15 01:38:51 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 19.71s (batch: 8.25s, save: 11.46s)	[pipeline.py: 300]
+05/15 01:38:51 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.72s:
+  episode_total: mean=208.40s, total=208.40s, count=1, min=208395.5ms, max=208395.5ms
+  sensor_polling: mean=469.2ms, total=140.76s, count=300, min=412.6ms, max=989.9ms
+  save_trajectories: mean=11.46s, total=11.46s, count=1, min=11457.9ms, max=11457.9ms
+  physics_step: mean=28.2ms, total=8.45s, count=300, min=17.6ms, max=38.6ms
+  save_batch_prep: mean=8.25s, total=8.25s, count=1, min=8253.7ms, max=8253.7ms
+  task_sampling: mean=720.9ms, total=720.9ms, count=1, min=720.9ms, max=720.9ms
+  task_specific_sample: mean=716.8ms, total=716.8ms, count=1, min=716.8ms, max=716.8ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=458.3us, 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]
+05/15 01:38:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 01:38:53 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 01:38:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 01:38:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:38:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:38:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:38:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:38:53 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 01:38:53 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 01:38:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 01:38:53 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: 273]
+05/15 01:38:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 01:38:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 01:38:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.051751m	[env.py: 870]
+05/15 01:38:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 01:38:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 01:38:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 01:38:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 132.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:38:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -158.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:38:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -156.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:38:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 167.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:38:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 90.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:38:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.09492143 -0.5542862   0.05175071] yaw=-145.0deg	[env.py: 1019]
+05/15 01:38:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 01:38:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 01:38:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=239.2ms, total=239.2ms	[env.py: 1075]
+05/15 01:38:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.095, -0.554, 0.052)	[env.py: 1079]
+05/15 01:38:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -145.0 deg	[env.py: 1082]
+05/15 01:38:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.014m	[env.py: 1086]
+05/15 01:38:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:38:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:38:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:38:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:38:54 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 01:38:54 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/15 01:38:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.114s	[base_object_manipulation_planner_policy.py: 377]
+05/15 01:38:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 01:38:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 01:38:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.093s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 01:38:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.049s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 01:38:55 INFO: [Worker 0] Feasible grasp found 124 (originally 9): w/ 0.776[m] 107.120[deg]	[grasp_sample.py: 539]
+05/15 01:38:55 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 01:38:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 01:38:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:38:56 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 01:39:26 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:39:34 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:39:35 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 01:39:35 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:39:40 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:39:44 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 01:39:45 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 01:39:49 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:39:49 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:40:13 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:40:22 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 01:40:26 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:40:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:40:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:40:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:40:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:40:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:40:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:40:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:40:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:40:41 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 01:40:41 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 01:40:41 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]
+05/15 01:40:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 01:40:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/15 01:40:41 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.720s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 01:40:41 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.105[m] 0.372[deg]	[grasp_sample.py: 539]
+05/15 01:40:41 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 01:40:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 01:40:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:40:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:40:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:40:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:40:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:40:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:40:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:40:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:40:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:40:55 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 01:40:55 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 01:40:55 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]
+05/15 01:40:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 01:40:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.086s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/15 01:40:55 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.683s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 01:40:55 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.105[m] 0.432[deg]	[grasp_sample.py: 539]
+05/15 01:40:56 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 01:40:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 01:40:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:40:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:40:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:41:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:41:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:41:03 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 01:41:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:41:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:41:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:41:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:41:09 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 01:41:09 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 01:41:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 01:41:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 01:41:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/15 01:41:10 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.685s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 01:41:10 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.105[m] 0.432[deg]	[grasp_sample.py: 539]
+05/15 01:41:10 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 01:41:10 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 01:41:10 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:41:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:41:13 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 01:41:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:41:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:41:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:41:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:41:19 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 01:41:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:41:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:41:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:41:23 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 01:41:23 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/15 01:41:24 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 01:41:30 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/15 01:41:30 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/15 01:41:30 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 01:41:42 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/15 01:41:42 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/15 01:41:42 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 01:41:48 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/15 01:41:48 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/15 01:41:48 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 01:41:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 01:41:49 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_006	[save_utils.py: 785]
+05/15 01:41:49 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 18.34s (batch: 6.03s, save: 12.31s)	[pipeline.py: 300]
+05/15 01:41:49 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=1.31s:
+  episode_total: mean=191.82s, total=191.82s, count=1, min=191816.6ms, max=191816.6ms
+  sensor_polling: mean=441.7ms, total=132.51s, count=300, min=398.0ms, max=1042.2ms
+  save_trajectories: mean=12.31s, total=12.31s, count=1, min=12307.0ms, max=12307.0ms
+  physics_step: mean=24.8ms, total=7.44s, count=300, min=21.6ms, max=35.3ms
+  save_batch_prep: mean=6.03s, total=6.03s, count=1, min=6031.3ms, max=6031.3ms
+  task_sampling: mean=1.31s, total=1.31s, count=1, min=1308.9ms, max=1308.9ms
+  task_specific_sample: mean=1.30s, total=1.30s, count=1, min=1304.5ms, max=1304.5ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=450.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=28.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 01:41:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 01:41:52 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 01:41:52 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 01:41:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:41:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:41:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:41:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:41:52 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 01:41:52 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: 195]
+05/15 01:41:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 01:41:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.043m, effective arm-mount z=0.817m (base_body_z=-0.043m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 01:41:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 01:41:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 01:41:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.043173m	[env.py: 870]
+05/15 01:41:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 01:41:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 01:41:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 01:41:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -50.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:41:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 72.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:41:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 84.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:41:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -76.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:41:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 162.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:41:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.53141422 -0.07645178 -0.04317332] yaw=-124.2deg	[env.py: 1019]
+05/15 01:41:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 01:41:52 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/15 01:41:52 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/15 01:41:52 INFO: [Worker 0] Preparing episode data: 281 timesteps	[save_utils.py: 278]
+05/15 01:41:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.23004378 -0.15846425 -0.04317332] yaw=-116.9deg	[env.py: 1019]
+05/15 01:41:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 01:41:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 01:41:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=235.5ms, total=235.6ms	[env.py: 1075]
+05/15 01:41:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.531, -0.076, -0.043)	[env.py: 1079]
+05/15 01:41:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -124.2 deg	[env.py: 1082]
+05/15 01:41:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.917m	[env.py: 1086]
+05/15 01:41:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:41:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:41:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:41:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:41:53 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 01:41:53 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/15 01:41:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.151s	[base_object_manipulation_planner_policy.py: 377]
+05/15 01:41:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 01:41:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 01:41:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 01:41:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.126s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 01:41:55 INFO: [Worker 0] Feasible grasp found 213 (originally 98): w/ 0.640[m] 92.000[deg]	[grasp_sample.py: 539]
+05/15 01:41:55 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 01:41:55 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 01:41:55 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:41:56 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 01:41:58 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 01:41:58 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_006	[save_utils.py: 785]
+05/15 01:41:58 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 16.38s (batch: 4.43s, save: 11.95s)	[pipeline.py: 300]
+05/15 01:41:59 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=1.03s:
+  episode_total: mean=202.09s, total=202.09s, count=1, min=202085.4ms, max=202085.4ms
+  sensor_polling: mean=468.9ms, total=140.67s, count=300, min=410.7ms, max=1071.9ms
+  save_trajectories: mean=11.95s, total=11.95s, count=1, min=11953.6ms, max=11953.6ms
+  physics_step: mean=27.6ms, total=8.27s, count=300, min=17.2ms, max=35.6ms
+  save_batch_prep: mean=4.43s, total=4.43s, count=1, min=4427.2ms, max=4427.2ms
+  task_sampling: mean=1.03s, total=1.03s, count=1, min=1028.4ms, max=1028.4ms
+  task_specific_sample: mean=1.02s, total=1.02s, count=1, min=1024.0ms, max=1024.0ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=636.5us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=18.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 01:42:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 01:42:00 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 01:42:00 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 01:42:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:42:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:42:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:42:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:42:00 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 01:42:00 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 01:42:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 01:42:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.072m, effective arm-mount z=0.932m (base_body_z=0.072m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 01:42:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 01:42:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 01:42:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.071959m	[env.py: 870]
+05/15 01:42:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 01:42:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 01:42:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 01:42:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -29.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:42:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 142.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:42:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 113.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:42:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.50498346 -0.1425623   0.07195937] yaw=-105.0deg	[env.py: 1019]
+05/15 01:42:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 01:42:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.36727618 -0.13338051  0.07195937] yaw=-162.1deg	[env.py: 1019]
+05/15 01:42:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 01:42:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.07514619 -0.90662481  0.07195937] yaw=165.1deg	[env.py: 1019]
+05/15 01:42:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 01:42:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 01:42:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=205.7ms, total=205.8ms	[env.py: 1075]
+05/15 01:42:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.505, -0.143, 0.072)	[env.py: 1079]
+05/15 01:42:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -105.0 deg	[env.py: 1082]
+05/15 01:42:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.882m	[env.py: 1086]
+05/15 01:42:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:42:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:42:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:42:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:42:01 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 01:42:01 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/15 01:42:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.108s	[base_object_manipulation_planner_policy.py: 377]
+05/15 01:42:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 01:42:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 01:42:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 01:42:02 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.972s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 01:42:02 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.630[m] 119.801[deg]	[grasp_sample.py: 539]
+05/15 01:42:02 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 01:42:02 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 01:42:02 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:42:03 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 01:42:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 01:42:06 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_006	[save_utils.py: 785]
+05/15 01:42:06 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 17.92s (batch: 5.82s, save: 12.10s)	[pipeline.py: 300]
+05/15 01:42:06 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.62s:
+  episode_total: mean=193.06s, total=193.06s, count=1, min=193064.8ms, max=193064.8ms
+  sensor_polling: mean=445.2ms, total=133.56s, count=300, min=381.1ms, max=959.7ms
+  save_trajectories: mean=12.10s, total=12.10s, count=1, min=12099.1ms, max=12099.1ms
+  physics_step: mean=24.0ms, total=7.20s, count=300, min=21.6ms, max=37.5ms
+  save_batch_prep: mean=5.82s, total=5.82s, count=1, min=5823.5ms, max=5823.5ms
+  task_sampling: mean=618.6ms, total=618.6ms, count=1, min=618.6ms, max=618.6ms
+  task_specific_sample: mean=614.1ms, total=614.1ms, count=1, min=614.1ms, max=614.1ms
+  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
+  mj_forward_sync: mean=491.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=21.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 01:42:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 01:42:08 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 01:42:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 01:42:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:42:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:42:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:42:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:42:08 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 01:42:08 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 01:42:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 01:42:08 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: 273]
+05/15 01:42:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 01:42:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 01:42:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.070676m	[env.py: 870]
+05/15 01:42:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 01:42:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 01:42:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 01:42:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 122.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:42:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.24067524 -0.84227763  0.07067596] yaw=194.9deg	[env.py: 1019]
+05/15 01:42:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 01:42:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -157.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:42:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -67.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:42:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.25139767 -0.01432754  0.07067596] yaw=-157.4deg	[env.py: 1019]
+05/15 01:42:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 01:42:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.43958425 -0.3054591   0.07067596] yaw=-152.0deg	[env.py: 1019]
+05/15 01:42:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 01:42:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 01:42:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=157.2ms, total=157.2ms	[env.py: 1075]
+05/15 01:42:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.241, -0.842, 0.071)	[env.py: 1079]
+05/15 01:42:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 194.9 deg	[env.py: 1082]
+05/15 01:42:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.834m	[env.py: 1086]
+05/15 01:42:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:42:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:42:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:42:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:42:09 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 01:42:09 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/15 01:42:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.112s	[base_object_manipulation_planner_policy.py: 377]
+05/15 01:42:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 01:42:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 01:42:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.087s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 01:42:10 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.798s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 01:42:10 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.470[m] 57.819[deg]	[grasp_sample.py: 539]
+05/15 01:42:10 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 01:42:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 01:42:10 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_006	[save_utils.py: 785]
+05/15 01:42:10 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 17.89s (batch: 7.95s, save: 9.94s)	[pipeline.py: 300]
+05/15 01:42:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 01:42:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:42:11 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.58s:
+  episode_total: mean=225.69s, total=225.69s, count=1, min=225691.4ms, max=225691.4ms
+  sensor_polling: mean=455.9ms, total=127.65s, count=280, min=416.1ms, max=1128.0ms
+  save_trajectories: mean=9.94s, total=9.94s, count=1, min=9937.4ms, max=9937.4ms
+  save_batch_prep: mean=7.95s, total=7.95s, count=1, min=7950.1ms, max=7950.1ms
+  physics_step: mean=23.0ms, total=6.43s, count=280, min=15.0ms, max=31.5ms
+  task_sampling: mean=575.9ms, total=575.9ms, count=1, min=575.9ms, max=575.9ms
+  task_specific_sample: mean=571.9ms, total=571.9ms, count=1, min=571.9ms, max=571.9ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=462.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=14.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 01:42:11 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 01:42:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 01:42:13 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 01:42:13 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 01:42:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:42:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:42:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:42:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:42:13 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 01:42:13 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 01:42:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 01:42:13 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: 273]
+05/15 01:42:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 01:42:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 01:42:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.094261m	[env.py: 870]
+05/15 01:42:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 01:42:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 01:42:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 01:42:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.0182309  -0.43148393  0.09426137] yaw=-188.6deg	[env.py: 1019]
+05/15 01:42:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 01:42:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 114.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:42:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 112.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:42:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.32320079 -0.51461039  0.09426137] yaw=-155.5deg	[env.py: 1019]
+05/15 01:42:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 01:42:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.05370952 -0.64369516  0.09426137] yaw=-195.2deg	[env.py: 1019]
+05/15 01:42:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 01:42:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 01:42:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=166.4ms, total=166.4ms	[env.py: 1075]
+05/15 01:42:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.018, -0.431, 0.094)	[env.py: 1079]
+05/15 01:42:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -188.6 deg	[env.py: 1082]
+05/15 01:42:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.158m	[env.py: 1086]
+05/15 01:42:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:42:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:42:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:42:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:42:13 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 01:42:13 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/15 01:42:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.120s	[base_object_manipulation_planner_policy.py: 377]
+05/15 01:42:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 01:42:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 01:42:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 01:42:16 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.793s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 01:42:16 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 01:42:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 01:42:18 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 01:42:18 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 01:42:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:42:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:42:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:42:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:42:18 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 01:42:18 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 01:42:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 01:42:18 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: 273]
+05/15 01:42:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 01:42:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 01:42:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.093451m	[env.py: 870]
+05/15 01:42:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 01:42:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 01:42:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 01:42:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.09574801 -0.25643223  0.0934509 ] yaw=-160.0deg	[env.py: 1019]
+05/15 01:42:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 01:42:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.18503952 -0.23635983  0.0934509 ] yaw=-126.4deg	[env.py: 1019]
+05/15 01:42:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 01:42:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 98.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:42:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 90.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:42:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -54.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:42:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.51809314 -0.13950226  0.0934509 ] yaw=-143.4deg	[env.py: 1019]
+05/15 01:42:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 01:42:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 01:42:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=128.1ms, total=128.2ms	[env.py: 1075]
+05/15 01:42:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.096, -0.256, 0.093)	[env.py: 1079]
+05/15 01:42:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -160.0 deg	[env.py: 1082]
+05/15 01:42:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.127m	[env.py: 1086]
+05/15 01:42:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:42:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:42:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:42:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:42:18 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 01:42:18 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/15 01:42:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s	[base_object_manipulation_planner_policy.py: 377]
+05/15 01:42:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 01:42:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 01:42:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.066s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 01:42:21 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.789s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 01:42:21 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 01:42:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 01:42:23 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 01:42:23 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 01:42:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:42:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:42:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:42:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:42:23 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 01:42:23 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 01:42:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 01:42:23 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: 273]
+05/15 01:42:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 01:42:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 01:42:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.004257m	[env.py: 870]
+05/15 01:42:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 01:42:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 01:42:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 01:42:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -54.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:42:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 116.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:42:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -176.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:42:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -156.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:42:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 70.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:42:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.02430664 -0.50623716  0.00425661] yaw=-186.2deg	[env.py: 1019]
+05/15 01:42:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 01:42:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 01:42:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=234.8ms, total=234.8ms	[env.py: 1075]
+05/15 01:42:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.024, -0.506, 0.004)	[env.py: 1079]
+05/15 01:42:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -186.2 deg	[env.py: 1082]
+05/15 01:42:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.141m	[env.py: 1086]
+05/15 01:42:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:42:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:42:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:42:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:42:24 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 01:42:24 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/15 01:42:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.095s	[base_object_manipulation_planner_policy.py: 377]
+05/15 01:42:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 01:42:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 01:42:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 01:42:27 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.789s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 01:42:27 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 01:42:27 WARNING: [Worker 0] Asset Fridge_m (hash: c5ee371e5ee9c94dd64f357b5ff4cf8f) dynamically blacklisted after 10 failures: rollout exception: No feasible grasp found	[task_sampler.py: 396]
+05/15 01:42:30 WARNING: [Worker 0] No trajectory data to save for chunk_006	[pipeline.py: 234]
+05/15 01:42:30 WARNING: [Worker 0] No trajectory data to save for chunk_006	[pipeline.py: 234]
+05/15 01:42:30 INFO: [Worker 0] Worker 0 completed house 1: 8/10 successful episodes	[pipeline.py: 1323]
+05/15 01:42:30 INFO: [Worker 0] [PROFILE] House 1 complete: 8/10 successful, 10 episodes, total_time=3653.00s
+  House averages:
+  episode_total: mean=113.79s, total=2048.23s, count=18, min=3311.2ms, max=227302.9ms
+  sensor_polling: mean=458.7ms, total=1366.97s, count=2980, min=375.7ms, max=1128.0ms
+  save_trajectories: mean=11.37s, total=90.94s, count=8, min=9937.4ms, max=12244.3ms
+  physics_step: mean=24.6ms, total=73.29s, count=2980, min=15.0ms, max=72.4ms
+  save_batch_prep: mean=5.20s, total=41.62s, count=8, min=4345.2ms, max=7950.1ms
+  task_sampling: mean=741.1ms, total=13.34s, count=18, min=392.0ms, max=4153.9ms
+  task_specific_sample: mean=532.3ms, total=9.58s, count=18, min=387.9ms, max=799.2ms
+  scene_load: mean=3.68s, total=3.68s, count=1, min=3681.5ms, max=3681.5ms
+  scene_env_create: mean=2.01s, total=2.01s, count=1, min=2007.0ms, max=2007.0ms
+  scene_compile: mean=1.48s, total=1.48s, count=1, min=1484.9ms, max=1484.9ms
+  compile_mujoco: mean=731.2ms, total=731.2ms, count=1, min=731.2ms, max=731.2ms
+  compile_xml_load: mean=633.3ms, total=633.3ms, count=1, min=633.3ms, max=633.3ms
+  scene_init: mean=118.1ms, total=118.1ms, count=1, min=118.1ms, max=118.1ms
+  scene_asset_install: mean=71.1ms, total=71.1ms, count=1, min=71.1ms, max=71.1ms
+  compile_aux_objects: mean=64.9ms, total=64.9ms, count=1, min=64.9ms, max=64.9ms
+  compile_aux_policy_objects: mean=64.9ms, total=64.9ms, count=1, min=64.9ms, max=64.9ms
+  asset_install_grasps: mean=50.5ms, total=50.5ms, count=1, min=50.5ms, max=50.5ms
+  scene_randomize: mean=2.3ms, total=41.7ms, count=18, min=1.2ms, max=3.5ms
+  compile_robot_add: mean=40.4ms, total=40.4ms, count=1, min=40.4ms, max=40.4ms
+  asset_install_objects: mean=15.1ms, total=15.1ms, count=1, min=15.1ms, max=15.1ms
+  mj_forward_sync: mean=488.3us, total=8.8ms, count=18, min=0.4ms, max=0.6ms
+  asset_install_scene: mean=5.5ms, total=5.5ms, count=1, min=5.5ms, max=5.5ms
+  policy_setup: mean=22.9us, total=0.4ms, count=18, min=0.0ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/15 01:42:30 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/15 01:42:30 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 10 episodes, total_time=3653.00s
+  Worker averages:
+  episode_total: mean=113.79s, total=2048.23s, count=18, min=3311.2ms, max=227302.9ms
+  sensor_polling: mean=458.7ms, total=1366.97s, count=2980, min=375.7ms, max=1128.0ms
+  save_trajectories: mean=11.37s, total=90.94s, count=8, min=9937.4ms, max=12244.3ms
+  physics_step: mean=24.6ms, total=73.29s, count=2980, min=15.0ms, max=72.4ms
+  save_batch_prep: mean=5.20s, total=41.62s, count=8, min=4345.2ms, max=7950.1ms
+  task_sampling: mean=741.1ms, total=13.34s, count=18, min=392.0ms, max=4153.9ms
+  task_specific_sample: mean=532.3ms, total=9.58s, count=18, min=387.9ms, max=799.2ms
+  scene_load: mean=3.68s, total=3.68s, count=1, min=3681.5ms, max=3681.5ms
+  scene_env_create: mean=2.01s, total=2.01s, count=1, min=2007.0ms, max=2007.0ms
+  scene_compile: mean=1.48s, total=1.48s, count=1, min=1484.9ms, max=1484.9ms
+  compile_mujoco: mean=731.2ms, total=731.2ms, count=1, min=731.2ms, max=731.2ms
+  compile_xml_load: mean=633.3ms, total=633.3ms, count=1, min=633.3ms, max=633.3ms
+  scene_init: mean=118.1ms, total=118.1ms, count=1, min=118.1ms, max=118.1ms
+  scene_asset_install: mean=71.1ms, total=71.1ms, count=1, min=71.1ms, max=71.1ms
+  compile_aux_objects: mean=64.9ms, total=64.9ms, count=1, min=64.9ms, max=64.9ms
+  compile_aux_policy_objects: mean=64.9ms, total=64.9ms, count=1, min=64.9ms, max=64.9ms
+  asset_install_grasps: mean=50.5ms, total=50.5ms, count=1, min=50.5ms, max=50.5ms
+  scene_randomize: mean=2.3ms, total=41.7ms, count=18, min=1.2ms, max=3.5ms
+  compile_robot_add: mean=40.4ms, total=40.4ms, count=1, min=40.4ms, max=40.4ms
+  asset_install_objects: mean=15.1ms, total=15.1ms, count=1, min=15.1ms, max=15.1ms
+  mj_forward_sync: mean=488.3us, total=8.8ms, count=18, min=0.4ms, max=0.6ms
+  asset_install_scene: mean=5.5ms, total=5.5ms, count=1, min=5.5ms, max=5.5ms
+  policy_setup: mean=22.9us, total=0.4ms, count=18, min=0.0ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/15 01:42:35 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/15 01:42:35 INFO: Success count: 8, Total count: 10	[pipeline.py: 1491]
+05/15 01:42:35 INFO: Success rate: 80.00%	[pipeline.py: 1492]
+05/15 01:42:50 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:42:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:42:58 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 01:43:02 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:43:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 01:43:09 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:43:10 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:43:20 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 01:43:24 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:43:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:43:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:43:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:43:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:43:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:43:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:43:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:43:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:43:52 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 01:43:52 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 01:43:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 01:43:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 01:43:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 84 non-colliding grasps	[grasp_sample.py: 465]
+05/15 01:43:55 INFO: [Worker 0] Feasibility-checked 84 grasps in 2.804s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 01:43:55 INFO: [Worker 0] Feasible grasp found 160 (originally 45): w/ 0.153[m] 1.174[deg]	[grasp_sample.py: 539]
+05/15 01:43:57 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/15 01:43:57 WARNING: [Worker 0] Asset Fridge_m (hash: c5ee371e5ee9c94dd64f357b5ff4cf8f) dynamically blacklisted after 10 failures: rollout exception: IK failed for pregrasp pose	[task_sampler.py: 396]
+05/15 01:43:59 WARNING: [Worker 0] No trajectory data to save for chunk_006	[pipeline.py: 234]
+05/15 01:43:59 WARNING: [Worker 0] No trajectory data to save for chunk_006	[pipeline.py: 234]
+05/15 01:43:59 INFO: [Worker 0] Worker 0 completed house 1: 7/9 successful episodes	[pipeline.py: 1323]
+05/15 01:43:59 INFO: [Worker 0] [PROFILE] House 1 complete: 7/9 successful, 9 episodes, total_time=3871.53s
+  House averages:
+  episode_total: mean=119.00s, total=2142.07s, count=18, min=220.7ms, max=216573.6ms
+  sensor_polling: mean=425.8ms, total=1489.15s, count=3497, min=334.0ms, max=1085.6ms
+  physics_step: mean=24.7ms, total=86.41s, count=3497, min=15.4ms, max=59.9ms
+  save_trajectories: mean=11.80s, total=82.57s, count=7, min=11559.3ms, max=12307.0ms
+  save_batch_prep: mean=5.39s, total=37.75s, count=7, min=4489.6ms, max=7471.9ms
+  task_sampling: mean=833.7ms, total=14.17s, count=17, min=446.8ms, max=4266.5ms
+  task_specific_sample: mean=598.7ms, total=10.78s, count=18, min=214.2ms, max=1304.5ms
+  scene_load: mean=3.55s, total=3.55s, count=1, min=3549.8ms, max=3549.8ms
+  scene_env_create: mean=2.12s, total=2.12s, count=1, min=2116.8ms, max=2116.8ms
+  scene_compile: mean=1.14s, total=1.14s, count=1, min=1139.8ms, max=1139.8ms
+  compile_mujoco: mean=842.3ms, total=842.3ms, count=1, min=842.3ms, max=842.3ms
+  task_sampling_failed: mean=220.7ms, total=220.7ms, count=1, min=220.7ms, max=220.7ms
+  scene_init: mean=220.4ms, total=220.4ms, count=1, min=220.4ms, max=220.4ms
+  compile_xml_load: mean=199.6ms, total=199.6ms, count=1, min=199.6ms, max=199.6ms
+  scene_asset_install: mean=72.5ms, total=72.5ms, count=1, min=72.5ms, max=72.5ms
+  compile_aux_objects: mean=71.6ms, total=71.6ms, count=1, min=71.6ms, max=71.6ms
+  compile_aux_policy_objects: mean=71.6ms, total=71.6ms, count=1, min=71.6ms, max=71.6ms
+  asset_install_grasps: mean=50.3ms, total=50.3ms, count=1, min=50.3ms, max=50.3ms
+  scene_randomize: mean=1.8ms, total=32.8ms, count=18, min=1.1ms, max=3.0ms
+  asset_install_objects: mean=16.5ms, total=16.5ms, count=1, min=16.5ms, max=16.5ms
+  compile_robot_add: mean=13.8ms, total=13.8ms, count=1, min=13.8ms, max=13.8ms
+  mj_forward_sync: mean=480.6us, total=8.7ms, count=18, min=0.4ms, max=0.6ms
+  asset_install_scene: mean=5.6ms, total=5.6ms, count=1, min=5.6ms, max=5.6ms
+  policy_setup: mean=25.5us, total=0.4ms, count=17, min=0.0ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/15 01:43:59 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/15 01:43:59 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 9 episodes, total_time=3871.53s
+  Worker averages:
+  episode_total: mean=119.00s, total=2142.07s, count=18, min=220.7ms, max=216573.6ms
+  sensor_polling: mean=425.8ms, total=1489.15s, count=3497, min=334.0ms, max=1085.6ms
+  physics_step: mean=24.7ms, total=86.41s, count=3497, min=15.4ms, max=59.9ms
+  save_trajectories: mean=11.80s, total=82.57s, count=7, min=11559.3ms, max=12307.0ms
+  save_batch_prep: mean=5.39s, total=37.75s, count=7, min=4489.6ms, max=7471.9ms
+  task_sampling: mean=833.7ms, total=14.17s, count=17, min=446.8ms, max=4266.5ms
+  task_specific_sample: mean=598.7ms, total=10.78s, count=18, min=214.2ms, max=1304.5ms
+  scene_load: mean=3.55s, total=3.55s, count=1, min=3549.8ms, max=3549.8ms
+  scene_env_create: mean=2.12s, total=2.12s, count=1, min=2116.8ms, max=2116.8ms
+  scene_compile: mean=1.14s, total=1.14s, count=1, min=1139.8ms, max=1139.8ms
+  compile_mujoco: mean=842.3ms, total=842.3ms, count=1, min=842.3ms, max=842.3ms
+  task_sampling_failed: mean=220.7ms, total=220.7ms, count=1, min=220.7ms, max=220.7ms
+  scene_init: mean=220.4ms, total=220.4ms, count=1, min=220.4ms, max=220.4ms
+  compile_xml_load: mean=199.6ms, total=199.6ms, count=1, min=199.6ms, max=199.6ms
+  scene_asset_install: mean=72.5ms, total=72.5ms, count=1, min=72.5ms, max=72.5ms
+  compile_aux_objects: mean=71.6ms, total=71.6ms, count=1, min=71.6ms, max=71.6ms
+  compile_aux_policy_objects: mean=71.6ms, total=71.6ms, count=1, min=71.6ms, max=71.6ms
+  asset_install_grasps: mean=50.3ms, total=50.3ms, count=1, min=50.3ms, max=50.3ms
+  scene_randomize: mean=1.8ms, total=32.8ms, count=18, min=1.1ms, max=3.0ms
+  asset_install_objects: mean=16.5ms, total=16.5ms, count=1, min=16.5ms, max=16.5ms
+  compile_robot_add: mean=13.8ms, total=13.8ms, count=1, min=13.8ms, max=13.8ms
+  mj_forward_sync: mean=480.6us, total=8.7ms, count=18, min=0.4ms, max=0.6ms
+  asset_install_scene: mean=5.6ms, total=5.6ms, count=1, min=5.6ms, max=5.6ms
+  policy_setup: mean=25.5us, total=0.4ms, count=17, min=0.0ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/15 01:44:04 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/15 01:44:04 INFO: Success count: 7, Total count: 9	[pipeline.py: 1491]
+05/15 01:44:04 INFO: Success rate: 77.78%	[pipeline.py: 1492]
+05/15 01:44:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:44:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:44:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:44:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:44:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:44:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:44:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:44:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:44:38 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 01:44:38 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 01:44:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 01:44:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 01:44:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/15 01:44:41 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.856s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 01:44:41 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.108[m] 0.256[deg]	[grasp_sample.py: 539]
+05/15 01:44:42 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/15 01:44:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 01:44:44 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 01:44:44 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 01:44:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:44:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:44:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:44:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:44:44 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 01:44:44 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 01:44:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 01:44:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.056m, effective arm-mount z=0.804m (base_body_z=-0.056m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 01:44:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 01:44:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 01:44:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.055792m	[env.py: 870]
+05/15 01:44:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 01:44:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 01:44:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 01:44:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.17478323 -1.05852667 -0.05579154] yaw=188.8deg	[env.py: 1019]
+05/15 01:44:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 01:44:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -39.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:44:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 80.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:44:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -157.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:44:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.26223786 -0.12191949 -0.05579154] yaw=-126.2deg	[env.py: 1019]
+05/15 01:44:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 01:44:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.3329411  -1.16554178 -0.05579154] yaw=182.6deg	[env.py: 1019]
+05/15 01:44:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 01:44:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 01:44:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=267.4ms, total=267.4ms	[env.py: 1075]
+05/15 01:44:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.175, -1.059, -0.056)	[env.py: 1079]
+05/15 01:44:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 188.8 deg	[env.py: 1082]
+05/15 01:44:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.932m	[env.py: 1086]
+05/15 01:44:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:44:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:44:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:44:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:44:45 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 01:44:45 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/15 01:44:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s	[base_object_manipulation_planner_policy.py: 377]
+05/15 01:44:45 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]
+05/15 01:44:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 01:44:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.066s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 01:44:46 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.946s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 01:44:46 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.490[m] 86.770[deg]	[grasp_sample.py: 539]
+05/15 01:44:46 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 01:44:46 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 01:44:46 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:44:46 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 01:45:05 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 01:45:29 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:45:32 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/15 01:45:32 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/15 01:45:32 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 01:45:38 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 01:45:42 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:45:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 01:45:47 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_006	[save_utils.py: 785]
+05/15 01:45:47 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 15.76s (batch: 4.96s, save: 10.80s)	[pipeline.py: 300]
+05/15 01:45:48 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.47s:
+  episode_total: mean=219.69s, total=219.69s, count=1, min=219692.0ms, max=219692.0ms
+  sensor_polling: mean=472.3ms, total=141.69s, count=300, min=410.4ms, max=943.0ms
+  save_trajectories: mean=10.80s, total=10.80s, count=1, min=10800.0ms, max=10800.0ms
+  physics_step: mean=25.9ms, total=7.77s, count=300, min=18.4ms, max=36.3ms
+  save_batch_prep: mean=4.96s, total=4.96s, count=1, min=4958.6ms, max=4958.6ms
+  task_sampling: mean=473.2ms, total=473.2ms, count=1, min=473.2ms, max=473.2ms
+  task_specific_sample: mean=468.8ms, total=468.8ms, count=1, min=468.8ms, max=468.8ms
+  scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
+  mj_forward_sync: mean=485.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=23.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 01:45:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 01:45:50 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 01:45:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 01:45:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:45:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:45:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:45:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:45:50 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 01:45:50 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 01:45:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 01:45:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.016m, effective arm-mount z=0.844m (base_body_z=-0.016m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 01:45:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 01:45:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 01:45:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.015627m	[env.py: 870]
+05/15 01:45:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 01:45:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 01:45:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 01:45:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -73.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:45:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -180.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:45:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.23405733 -0.25729718 -0.01562661] yaw=-141.2deg	[env.py: 1019]
+05/15 01:45:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 01:45:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 154.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:45:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -45.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:45:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.26660611 -0.96200636 -0.01562661] yaw=167.0deg	[env.py: 1019]
+05/15 01:45:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 01:45:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.15029376 -0.38984883 -0.01562661] yaw=-157.2deg	[env.py: 1019]
+05/15 01:45:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 01:45:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 01:45:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=265.5ms, total=265.5ms	[env.py: 1075]
+05/15 01:45:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.234, -0.257, -0.016)	[env.py: 1079]
+05/15 01:45:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -141.2 deg	[env.py: 1082]
+05/15 01:45:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.009m	[env.py: 1086]
+05/15 01:45:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:45:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:45:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:45:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:45:51 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 01:45:51 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/15 01:45:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.117s	[base_object_manipulation_planner_policy.py: 377]
+05/15 01:45:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 01:45:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 01:45:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 01:45:54 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.742s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 01:45:54 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.588[m] 83.810[deg]	[grasp_sample.py: 539]
+05/15 01:45:54 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 01:45:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 01:45:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:45:55 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 01:46:48 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:46:57 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 01:47:01 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:47:21 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 01:47:52 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/15 01:47:52 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/15 01:47:52 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 01:48:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 01:48:08 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_006	[save_utils.py: 785]
+05/15 01:48:08 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 15.84s (batch: 4.56s, save: 11.28s)	[pipeline.py: 300]
+05/15 01:48:09 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=1.10s:
+  episode_total: mean=183.59s, total=367.19s, count=2, min=162258.8ms, max=204928.0ms
+  sensor_polling: mean=460.9ms, total=275.16s, count=597, min=391.3ms, max=1112.3ms
+  physics_step: mean=24.4ms, total=14.59s, count=597, min=16.8ms, max=62.1ms
+  save_trajectories: mean=11.28s, total=11.28s, count=1, min=11280.0ms, max=11280.0ms
+  save_batch_prep: mean=4.56s, total=4.56s, count=1, min=4559.2ms, max=4559.2ms
+  task_sampling: mean=547.8ms, total=1.10s, count=2, min=543.1ms, max=552.4ms
+  task_specific_sample: mean=544.0ms, total=1.09s, count=2, min=539.2ms, max=548.9ms
+  scene_randomize: mean=1.9ms, total=3.9ms, count=2, min=1.4ms, max=2.5ms
+  mj_forward_sync: mean=463.4us, total=0.9ms, count=2, min=0.5ms, max=0.5ms
+  policy_setup: mean=16.2us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 01:48:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 01:48:10 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 01:48:10 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 01:48:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:48:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:48:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:48:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:48:10 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 01:48:10 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: 195]
+05/15 01:48:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 01:48:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.097m, effective arm-mount z=0.763m (base_body_z=-0.097m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 01:48:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 01:48:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 01:48:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.097074m	[env.py: 870]
+05/15 01:48:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 01:48:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 01:48:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 01:48:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.12461823 -1.17922202 -0.09707442] yaw=174.7deg	[env.py: 1019]
+05/15 01:48:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 01:48:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 142.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:48:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 166.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:48:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 114.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:48:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 147.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:48:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.39607146 -0.07036318 -0.09707442] yaw=-113.1deg	[env.py: 1019]
+05/15 01:48:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 01:48:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.04019722 -0.43334125 -0.09707442] yaw=-150.7deg	[env.py: 1019]
+05/15 01:48:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 01:48:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 01:48:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=415.8ms, total=415.8ms	[env.py: 1075]
+05/15 01:48:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.125, -1.179, -0.097)	[env.py: 1079]
+05/15 01:48:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 174.7 deg	[env.py: 1082]
+05/15 01:48:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.017m	[env.py: 1086]
+05/15 01:48:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:48:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:48:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:48:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:48:11 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 01:48:11 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/15 01:48:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s	[base_object_manipulation_planner_policy.py: 377]
+05/15 01:48:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 01:48:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 01:48:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 01:48:14 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.804s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 01:48:14 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.549[m] 100.007[deg]	[grasp_sample.py: 539]
+05/15 01:48:14 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 01:48:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 01:48:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:48:15 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 01:48:18 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 01:48:44 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/15 01:48:44 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/15 01:48:44 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 01:49:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 01:49:01 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_006	[save_utils.py: 785]
+05/15 01:49:01 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 16.07s (batch: 5.29s, save: 10.78s)	[pipeline.py: 300]
+05/15 01:49:01 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.59s:
+  episode_total: mean=191.08s, total=191.08s, count=1, min=191080.9ms, max=191080.9ms
+  sensor_polling: mean=446.5ms, total=133.94s, count=300, min=388.2ms, max=948.0ms
+  save_trajectories: mean=10.78s, total=10.78s, count=1, min=10780.9ms, max=10780.9ms
+  physics_step: mean=24.2ms, total=7.26s, count=300, min=18.1ms, max=32.9ms
+  save_batch_prep: mean=5.29s, total=5.29s, count=1, min=5293.9ms, max=5293.9ms
+  task_sampling: mean=588.2ms, total=588.2ms, count=1, min=588.2ms, max=588.2ms
+  task_specific_sample: mean=583.9ms, total=583.9ms, count=1, min=583.9ms, max=583.9ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=448.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=22.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 01:49:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 01:49:03 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 01:49:03 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 01:49:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:49:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:49:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:49:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:49:03 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 01:49:03 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 01:49:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 01:49:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.069m, effective arm-mount z=0.929m (base_body_z=0.069m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 01:49:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 01:49:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 01:49:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.069275m	[env.py: 870]
+05/15 01:49:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 01:49:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 01:49:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 01:49:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.50643469 -0.10871701  0.06927456] yaw=-144.2deg	[env.py: 1019]
+05/15 01:49:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 01:49:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 63.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:49:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 92.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:49:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 77.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:49:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -70.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:49:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.1957525  -0.50873061  0.06927456] yaw=-188.1deg	[env.py: 1019]
+05/15 01:49:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 01:49:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.03815253 -1.1662276   0.06927456] yaw=153.4deg	[env.py: 1019]
+05/15 01:49:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 01:49:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 01:49:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=269.0ms, total=269.0ms	[env.py: 1075]
+05/15 01:49:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.506, -0.109, 0.069)	[env.py: 1079]
+05/15 01:49:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -144.2 deg	[env.py: 1082]
+05/15 01:49:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.907m	[env.py: 1086]
+05/15 01:49:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:49:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:49:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:49:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:49:04 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 01:49:04 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/15 01:49:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s	[base_object_manipulation_planner_policy.py: 377]
+05/15 01:49:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 01:49:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 01:49:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.086s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 01:49:07 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.812s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 01:49:07 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.753[m] 109.597[deg]	[grasp_sample.py: 539]
+05/15 01:49:07 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 01:49:07 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:49:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 01:49:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:49:08 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 01:49:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 01:49:20 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:50:21 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:50:29 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 01:50:33 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:50:35 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 01:51:06 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/15 01:51:06 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/15 01:51:06 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 01:51:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:51:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 01:51:22 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_006	[save_utils.py: 785]
+05/15 01:51:22 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 16.12s (batch: 5.37s, save: 10.74s)	[pipeline.py: 300]
+05/15 01:51:23 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.75s:
+  episode_total: mean=192.31s, total=192.31s, count=1, min=192313.4ms, max=192313.4ms
+  sensor_polling: mean=436.1ms, total=130.84s, count=300, min=386.9ms, max=954.9ms
+  save_trajectories: mean=10.74s, total=10.74s, count=1, min=10743.4ms, max=10743.4ms
+  physics_step: mean=23.2ms, total=6.96s, count=300, min=16.8ms, max=31.6ms
+  save_batch_prep: mean=5.37s, total=5.37s, count=1, min=5373.6ms, max=5373.6ms
+  task_sampling: mean=746.8ms, total=746.8ms, count=1, min=746.8ms, max=746.8ms
+  task_specific_sample: mean=742.7ms, total=742.7ms, count=1, min=742.7ms, max=742.7ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=457.9us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=25.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 01:51:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:51:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 01:51:24 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 01:51:24 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 01:51:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:51:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:51:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:51:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:51:24 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 01:51:24 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 01:51:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 01:51:24 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: 273]
+05/15 01:51:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 01:51:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 01:51:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.057255m	[env.py: 870]
+05/15 01:51:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 01:51:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 01:51:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 01:51:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 66.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:51:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -55.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:51:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 94.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:51:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -163.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:51:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 96.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:51:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.1159885  -0.89174802  0.05725541] yaw=165.5deg	[env.py: 1019]
+05/15 01:51:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 01:51:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.4586742  -0.02191599  0.05725541] yaw=-153.6deg	[env.py: 1019]
+05/15 01:51:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 01:51:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.01708332 -0.76578358  0.05725541] yaw=-172.9deg	[env.py: 1019]
+05/15 01:51:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 01:51:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 01:51:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=254.0ms, total=254.0ms	[env.py: 1075]
+05/15 01:51:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.116, -0.892, 0.057)	[env.py: 1079]
+05/15 01:51:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 165.5 deg	[env.py: 1082]
+05/15 01:51:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.961m	[env.py: 1086]
+05/15 01:51:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:51:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:51:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:51:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:51:25 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 01:51:25 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/15 01:51:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s	[base_object_manipulation_planner_policy.py: 377]
+05/15 01:51:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 01:51:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 01:51:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 01:51:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:51:26 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.875s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 01:51:26 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.511[m] 98.557[deg]	[grasp_sample.py: 539]
+05/15 01:51:26 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 01:51:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 01:51:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:51:27 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 01:51:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:51:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:51:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:51:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:51:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:51:34 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 01:51:34 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 01:51:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 01:51:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 01:51:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/15 01:51:36 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.757s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 01:51:36 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.757[deg]	[grasp_sample.py: 539]
+05/15 01:51:38 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/15 01:51:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 01:51:40 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 01:51:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 01:51:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:51:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:51:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:51:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:51:40 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 01:51:40 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: 195]
+05/15 01:51:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 01:51:40 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: 273]
+05/15 01:51:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 01:51:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 01:51:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.039822m	[env.py: 870]
+05/15 01:51:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 01:51:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 01:51:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 01:51:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.273554   -0.75006288  0.03982179] yaw=-157.9deg	[env.py: 1019]
+05/15 01:51:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 01:51:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.21582326 -1.02704719  0.03982179] yaw=148.2deg	[env.py: 1019]
+05/15 01:51:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 01:51:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.15899362 -1.26105971  0.03982179] yaw=131.1deg	[env.py: 1019]
+05/15 01:51:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 01:51:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 01:51:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=78.6ms, total=78.6ms	[env.py: 1075]
+05/15 01:51:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.274, -0.750, 0.040)	[env.py: 1079]
+05/15 01:51:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -157.9 deg	[env.py: 1082]
+05/15 01:51:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.803m	[env.py: 1086]
+05/15 01:51:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:51:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:51:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:51:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:51:40 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 01:51:40 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/15 01:51:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s	[base_object_manipulation_planner_policy.py: 377]
+05/15 01:51:40 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]
+05/15 01:51:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 01:51:40 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 01:51:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.481s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 01:51:42 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.546[m] 67.611[deg]	[grasp_sample.py: 539]
+05/15 01:51:42 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 01:51:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 01:51:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:52:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:52:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:52:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:52:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:52:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:52:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:52:21 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:52:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:52:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 01:52:24 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 01:52:24 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 01:52:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 01:52:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 01:52:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 01:52:30 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:52:31 INFO: [Worker 0] Feasibility-checked 88 grasps in 6.927s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 01:52:31 INFO: [Worker 0] Feasible grasp found 70 (originally 70): w/ 0.109[m] 12.948[deg]	[grasp_sample.py: 539]
+05/15 01:52:32 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 01:52:32 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 01:52:32 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:52:40 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 01:52:44 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:52:47 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:52:56 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 01:53:00 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:54:05 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 01:54:24 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 01:54:35 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/15 01:54:35 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/15 01:54:35 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 01:54:52 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/15 01:54:52 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/15 01:54:52 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 01:54:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 01:54:52 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_006	[save_utils.py: 785]
+05/15 01:54:52 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 17.38s (batch: 5.43s, save: 11.94s)	[pipeline.py: 300]
+05/15 01:54:53 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.97s:
+  episode_total: mean=173.97s, total=347.94s, count=2, min=154674.9ms, max=193267.4ms
+  sensor_polling: mean=447.6ms, total=260.48s, count=582, min=382.7ms, max=963.1ms
+  physics_step: mean=24.5ms, total=14.26s, count=582, min=17.0ms, max=35.4ms
+  save_trajectories: mean=11.94s, total=11.94s, count=1, min=11943.5ms, max=11943.5ms
+  save_batch_prep: mean=5.43s, total=5.43s, count=1, min=5433.5ms, max=5433.5ms
+  task_sampling: mean=486.3ms, total=972.6ms, count=2, min=353.3ms, max=619.2ms
+  task_specific_sample: mean=482.2ms, total=964.3ms, count=2, min=349.9ms, max=614.4ms
+  scene_randomize: mean=2.3ms, total=4.7ms, count=2, min=1.3ms, max=3.4ms
+  mj_forward_sync: mean=456.4us, total=0.9ms, count=2, min=0.5ms, max=0.5ms
+  policy_setup: mean=20.5us, 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]
+05/15 01:54:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 01:54:55 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 01:54:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 01:54:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:54:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:54:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:54:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:54:55 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 01:54:55 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: 195]
+05/15 01:54:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 01:54:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.003m, effective arm-mount z=0.863m (base_body_z=0.003m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 01:54:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 01:54:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 01:54:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.003170m	[env.py: 870]
+05/15 01:54:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 01:54:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 01:54:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 01:54:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -29.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:54:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.2832275  -0.41575728  0.00316969] yaw=-173.5deg	[env.py: 1019]
+05/15 01:54:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 01:54:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 99.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:54:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 138.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:54:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.18469814 -0.119359    0.00316969] yaw=-136.6deg	[env.py: 1019]
+05/15 01:54:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 01:54:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.09396748 -0.58097706  0.00316969] yaw=-188.8deg	[env.py: 1019]
+05/15 01:54:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 01:54:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 01:54:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=177.7ms, total=177.8ms	[env.py: 1075]
+05/15 01:54:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.283, -0.416, 0.003)	[env.py: 1079]
+05/15 01:54:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -173.5 deg	[env.py: 1082]
+05/15 01:54:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.887m	[env.py: 1086]
+05/15 01:54:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:54:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:54:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:54:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:54:56 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 01:54:56 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/15 01:54:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.146s	[base_object_manipulation_planner_policy.py: 377]
+05/15 01:54:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 01:54:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 01:54:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 01:54:57 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.929s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 01:54:57 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.622[m] 95.311[deg]	[grasp_sample.py: 539]
+05/15 01:54:57 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 01:54:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 01:54:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:54:58 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 01:55:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 01:55:08 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_006	[save_utils.py: 785]
+05/15 01:55:08 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 15.78s (batch: 4.95s, save: 10.83s)	[pipeline.py: 300]
+05/15 01:55:08 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.58s:
+  episode_total: mean=224.21s, total=224.21s, count=1, min=224212.4ms, max=224212.4ms
+  sensor_polling: mean=439.4ms, total=131.83s, count=300, min=381.8ms, max=974.7ms
+  save_trajectories: mean=10.83s, total=10.83s, count=1, min=10825.5ms, max=10825.5ms
+  physics_step: mean=23.1ms, total=6.93s, count=300, min=15.0ms, max=42.9ms
+  save_batch_prep: mean=4.95s, total=4.95s, count=1, min=4951.1ms, max=4951.1ms
+  task_sampling: mean=575.7ms, total=575.7ms, count=1, min=575.7ms, max=575.7ms
+  task_specific_sample: mean=571.7ms, total=571.7ms, count=1, min=571.7ms, max=571.7ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=448.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=18.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 01:55:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 01:55:10 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 01:55:10 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 01:55:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:55:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:55:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:55:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:55:10 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 01:55:10 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: 195]
+05/15 01:55:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 01:55:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.012m, effective arm-mount z=0.872m (base_body_z=0.012m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 01:55:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 01:55:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 01:55:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.011654m	[env.py: 870]
+05/15 01:55:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 01:55:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 01:55:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 01:55:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 135.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:55:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.20236829 -0.65775265  0.01165379] yaw=-157.8deg	[env.py: 1019]
+05/15 01:55:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 01:55:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -61.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:55:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.02603    -0.79697003  0.01165379] yaw=-205.7deg	[env.py: 1019]
+05/15 01:55:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 01:55:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -177.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:55:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.50839474 -0.24295791  0.01165379] yaw=-125.6deg	[env.py: 1019]
+05/15 01:55:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 01:55:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 01:55:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=214.6ms, total=214.6ms	[env.py: 1075]
+05/15 01:55:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.202, -0.658, 0.012)	[env.py: 1079]
+05/15 01:55:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -157.8 deg	[env.py: 1082]
+05/15 01:55:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.886m	[env.py: 1086]
+05/15 01:55:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:55:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:55:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:55:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:55:10 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 01:55:10 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/15 01:55:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.108s	[base_object_manipulation_planner_policy.py: 377]
+05/15 01:55:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 01:55:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 01:55:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 01:55:12 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.267s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 01:55:12 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.580[m] 82.836[deg]	[grasp_sample.py: 539]
+05/15 01:55:12 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 01:55:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 01:55:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:55:13 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 01:55:52 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:56:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 01:56:04 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:56:05 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:56:13 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 01:56:17 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:57:18 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 01:57:34 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 01:57:48 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/15 01:57:48 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/15 01:57:48 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 01:58:03 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/15 01:58:03 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/15 01:58:03 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 01:58:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 01:58:04 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_006	[save_utils.py: 785]
+05/15 01:58:04 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 16.60s (batch: 5.34s, save: 11.26s)	[pipeline.py: 300]
+05/15 01:58:05 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.49s:
+  episode_total: mean=190.13s, total=190.13s, count=1, min=190130.9ms, max=190130.9ms
+  sensor_polling: mean=436.9ms, total=131.07s, count=300, min=389.1ms, max=958.4ms
+  save_trajectories: mean=11.26s, total=11.26s, count=1, min=11260.7ms, max=11260.7ms
+  physics_step: mean=23.7ms, total=7.12s, count=300, min=17.0ms, max=31.7ms
+  save_batch_prep: mean=5.34s, total=5.34s, count=1, min=5336.6ms, max=5336.6ms
+  task_sampling: mean=492.3ms, total=492.3ms, count=1, min=492.3ms, max=492.3ms
+  task_specific_sample: mean=487.9ms, total=487.9ms, count=1, min=487.9ms, max=487.9ms
+  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
+  mj_forward_sync: mean=457.0us, 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]
+05/15 01:58:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 01:58:07 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 01:58:07 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 01:58:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:58:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:58:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:58:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:58:07 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 01:58:07 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 01:58:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 01:58:07 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: 273]
+05/15 01:58:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 01:58:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 01:58:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.091035m	[env.py: 870]
+05/15 01:58:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 01:58:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 01:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 01:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 131.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.33437798 -0.48532619  0.09103484] yaw=-129.1deg	[env.py: 1019]
+05/15 01:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 01:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.50124812 -0.21321612  0.09103484] yaw=-117.1deg	[env.py: 1019]
+05/15 01:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 01:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -58.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 169.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 01:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.27193794 -1.23737277  0.09103484] yaw=128.8deg	[env.py: 1019]
+05/15 01:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 01:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 01:58:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=810.3ms, total=810.4ms	[env.py: 1075]
+05/15 01:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.334, -0.485, 0.091)	[env.py: 1079]
+05/15 01:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -129.1 deg	[env.py: 1082]
+05/15 01:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.810m	[env.py: 1086]
+05/15 01:58:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 01:58:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 01:58:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 01:58:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 01:58:08 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 01:58:08 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/15 01:58:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.171s	[base_object_manipulation_planner_policy.py: 377]
+05/15 01:58:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 01:58:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 01:58:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 01:58:10 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.386s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 01:58:10 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.505[m] 78.519[deg]	[grasp_sample.py: 539]
+05/15 01:58:10 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 01:58:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 01:58:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:58:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 01:58:19 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_006	[save_utils.py: 785]
+05/15 01:58:19 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 16.26s (batch: 4.75s, save: 11.51s)	[pipeline.py: 300]
+05/15 01:58:20 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.53s:
+  episode_total: mean=190.16s, total=190.16s, count=1, min=190165.0ms, max=190165.0ms
+  sensor_polling: mean=437.6ms, total=131.28s, count=300, min=389.9ms, max=983.7ms
+  save_trajectories: mean=11.51s, total=11.51s, count=1, min=11508.4ms, max=11508.4ms
+  physics_step: mean=24.0ms, total=7.20s, count=300, min=16.7ms, max=31.8ms
+  save_batch_prep: mean=4.75s, total=4.75s, count=1, min=4751.7ms, max=4751.7ms
+  task_sampling: mean=530.2ms, total=530.2ms, count=1, min=530.2ms, max=530.2ms
+  task_specific_sample: mean=526.1ms, total=526.1ms, count=1, min=526.1ms, max=526.1ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=454.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=18.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 01:58:22 WARNING: [Worker 0] No trajectory data to save for chunk_006	[pipeline.py: 234]
+05/15 01:58:22 WARNING: [Worker 0] No trajectory data to save for chunk_006	[pipeline.py: 234]
+05/15 01:58:22 INFO: [Worker 0] Worker 0 completed house 1: 13/14 successful episodes	[pipeline.py: 1323]
+05/15 01:58:22 INFO: [Worker 0] [PROFILE] House 1 complete: 13/14 successful, 14 episodes, total_time=5430.27s
+  House averages:
+  episode_total: mean=166.84s, total=3003.03s, count=18, min=3311.4ms, max=229717.9ms
+  sensor_polling: mean=457.5ms, total=2057.40s, count=4497, min=380.9ms, max=1134.1ms
+  save_trajectories: mean=11.69s, total=151.92s, count=13, min=10743.4ms, max=15007.6ms
+  physics_step: mean=24.9ms, total=111.84s, count=4497, min=15.0ms, max=127.3ms
+  save_batch_prep: mean=5.42s, total=70.46s, count=13, min=4427.2ms, max=6576.1ms
+  task_sampling: mean=828.5ms, total=14.91s, count=18, min=411.3ms, max=4665.3ms
+  task_specific_sample: mean=601.6ms, total=10.83s, count=18, min=407.1ms, max=1024.7ms
+  scene_load: mean=4.01s, total=4.01s, count=1, min=4010.1ms, max=4010.1ms
+  scene_env_create: mean=2.14s, total=2.14s, count=1, min=2136.5ms, max=2136.5ms
+  scene_compile: mean=1.68s, total=1.68s, count=1, min=1679.2ms, max=1679.2ms
+  compile_mujoco: mean=811.3ms, total=811.3ms, count=1, min=811.3ms, max=811.3ms
+  compile_xml_load: mean=747.1ms, total=747.1ms, count=1, min=747.1ms, max=747.1ms
+  scene_init: mean=122.0ms, total=122.0ms, count=1, min=122.0ms, max=122.0ms
+  scene_asset_install: mean=71.9ms, total=71.9ms, count=1, min=71.9ms, max=71.9ms
+  compile_aux_objects: mean=65.7ms, total=65.7ms, count=1, min=65.7ms, max=65.7ms
+  compile_aux_policy_objects: mean=65.7ms, total=65.7ms, count=1, min=65.7ms, max=65.7ms
+  asset_install_grasps: mean=48.6ms, total=48.6ms, count=1, min=48.6ms, max=48.6ms
+  scene_randomize: mean=2.4ms, total=44.0ms, count=18, min=1.1ms, max=5.1ms
+  compile_robot_add: mean=40.4ms, total=40.4ms, count=1, min=40.4ms, max=40.4ms
+  asset_install_objects: mean=16.7ms, total=16.7ms, count=1, min=16.7ms, max=16.7ms
+  mj_forward_sync: mean=492.3us, total=8.9ms, count=18, min=0.4ms, max=0.7ms
+  asset_install_scene: mean=6.6ms, total=6.6ms, count=1, min=6.6ms, max=6.6ms
+  policy_setup: mean=24.8us, total=0.4ms, count=18, min=0.0ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/15 01:58:22 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/15 01:58:22 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 14 episodes, total_time=5430.27s
+  Worker averages:
+  episode_total: mean=166.84s, total=3003.03s, count=18, min=3311.4ms, max=229717.9ms
+  sensor_polling: mean=457.5ms, total=2057.40s, count=4497, min=380.9ms, max=1134.1ms
+  save_trajectories: mean=11.69s, total=151.92s, count=13, min=10743.4ms, max=15007.6ms
+  physics_step: mean=24.9ms, total=111.84s, count=4497, min=15.0ms, max=127.3ms
+  save_batch_prep: mean=5.42s, total=70.46s, count=13, min=4427.2ms, max=6576.1ms
+  task_sampling: mean=828.5ms, total=14.91s, count=18, min=411.3ms, max=4665.3ms
+  task_specific_sample: mean=601.6ms, total=10.83s, count=18, min=407.1ms, max=1024.7ms
+  scene_load: mean=4.01s, total=4.01s, count=1, min=4010.1ms, max=4010.1ms
+  scene_env_create: mean=2.14s, total=2.14s, count=1, min=2136.5ms, max=2136.5ms
+  scene_compile: mean=1.68s, total=1.68s, count=1, min=1679.2ms, max=1679.2ms
+  compile_mujoco: mean=811.3ms, total=811.3ms, count=1, min=811.3ms, max=811.3ms
+  compile_xml_load: mean=747.1ms, total=747.1ms, count=1, min=747.1ms, max=747.1ms
+  scene_init: mean=122.0ms, total=122.0ms, count=1, min=122.0ms, max=122.0ms
+  scene_asset_install: mean=71.9ms, total=71.9ms, count=1, min=71.9ms, max=71.9ms
+  compile_aux_objects: mean=65.7ms, total=65.7ms, count=1, min=65.7ms, max=65.7ms
+  compile_aux_policy_objects: mean=65.7ms, total=65.7ms, count=1, min=65.7ms, max=65.7ms
+  asset_install_grasps: mean=48.6ms, total=48.6ms, count=1, min=48.6ms, max=48.6ms
+  scene_randomize: mean=2.4ms, total=44.0ms, count=18, min=1.1ms, max=5.1ms
+  compile_robot_add: mean=40.4ms, total=40.4ms, count=1, min=40.4ms, max=40.4ms
+  asset_install_objects: mean=16.7ms, total=16.7ms, count=1, min=16.7ms, max=16.7ms
+  mj_forward_sync: mean=492.3us, total=8.9ms, count=18, min=0.4ms, max=0.7ms
+  asset_install_scene: mean=6.6ms, total=6.6ms, count=1, min=6.6ms, max=6.6ms
+  policy_setup: mean=24.8us, total=0.4ms, count=18, min=0.0ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/15 01:58:25 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/15 01:58:25 INFO: Success count: 13, Total count: 14	[pipeline.py: 1491]
+05/15 01:58:25 INFO: Success rate: 92.86%	[pipeline.py: 1492]
+05/15 01:58:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 01:59:03 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 01:59:07 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:00:30 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 02:01:01 INFO: [Worker 0] Saved videos eagerly for episode 13 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/15 02:01:01 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/15 02:01:01 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 02:01:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 02:01:17 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_006	[save_utils.py: 785]
+05/15 02:01:17 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 16.12s (batch: 5.13s, save: 10.99s)	[pipeline.py: 300]
+05/15 02:01:18 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=1.28s:
+  episode_total: mean=190.94s, total=190.94s, count=1, min=190939.7ms, max=190939.7ms
+  sensor_polling: mean=433.7ms, total=130.12s, count=300, min=386.7ms, max=904.9ms
+  save_trajectories: mean=10.99s, total=10.99s, count=1, min=10990.1ms, max=10990.1ms
+  physics_step: mean=23.3ms, total=7.00s, count=300, min=17.1ms, max=25.7ms
+  save_batch_prep: mean=5.13s, total=5.13s, count=1, min=5133.1ms, max=5133.1ms
+  task_sampling: mean=1.28s, total=1.28s, count=1, min=1280.5ms, max=1280.5ms
+  task_specific_sample: mean=1.28s, total=1.28s, count=1, min=1276.2ms, max=1276.2ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=452.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=26.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 02:01:20 WARNING: [Worker 0] No trajectory data to save for chunk_006	[pipeline.py: 234]
+05/15 02:01:20 WARNING: [Worker 0] No trajectory data to save for chunk_006	[pipeline.py: 234]
+05/15 02:01:20 INFO: [Worker 0] Worker 0 completed house 1: 14/14 successful episodes	[pipeline.py: 1323]
+05/15 02:01:20 INFO: [Worker 0] [PROFILE] House 1 complete: 14/14 successful, 14 episodes, total_time=5764.81s
+  House averages:
+  episode_total: mean=176.81s, total=3182.55s, count=18, min=3358.2ms, max=239007.3ms
+  sensor_polling: mean=458.7ms, total=2185.00s, count=4763, min=381.1ms, max=1177.2ms
+  save_trajectories: mean=11.53s, total=161.36s, count=14, min=10377.9ms, max=12865.6ms
+  physics_step: mean=25.6ms, total=122.02s, count=4763, min=16.0ms, max=95.7ms
+  save_batch_prep: mean=5.72s, total=80.05s, count=14, min=4049.0ms, max=8744.3ms
+  task_sampling: mean=781.8ms, total=14.07s, count=18, min=338.6ms, max=4636.5ms
+  task_specific_sample: mean=556.0ms, total=10.01s, count=18, min=335.4ms, max=1276.2ms
+  scene_load: mean=3.99s, total=3.99s, count=1, min=3988.8ms, max=3988.8ms
+  scene_env_create: mean=2.18s, total=2.18s, count=1, min=2176.4ms, max=2176.4ms
+  scene_compile: mean=1.59s, total=1.59s, count=1, min=1589.8ms, max=1589.8ms
+  compile_mujoco: mean=932.7ms, total=932.7ms, count=1, min=932.7ms, max=932.7ms
+  compile_xml_load: mean=526.8ms, total=526.8ms, count=1, min=526.8ms, max=526.8ms
+  scene_init: mean=159.9ms, total=159.9ms, count=1, min=159.9ms, max=159.9ms
+  compile_aux_objects: mean=76.9ms, total=76.9ms, count=1, min=76.9ms, max=76.9ms
+  compile_aux_policy_objects: mean=76.9ms, total=76.9ms, count=1, min=76.9ms, max=76.9ms
+  scene_asset_install: mean=62.2ms, total=62.2ms, count=1, min=62.2ms, max=62.2ms
+  scene_randomize: mean=2.6ms, total=46.1ms, count=18, min=1.2ms, max=4.5ms
+  asset_install_grasps: mean=42.4ms, total=42.4ms, count=1, min=42.4ms, max=42.4ms
+  compile_robot_add: mean=40.9ms, total=40.9ms, count=1, min=40.9ms, max=40.9ms
+  asset_install_objects: mean=15.0ms, total=15.0ms, count=1, min=15.0ms, max=15.0ms
+  mj_forward_sync: mean=495.7us, total=8.9ms, count=18, min=0.4ms, max=0.9ms
+  asset_install_scene: mean=4.8ms, total=4.8ms, count=1, min=4.8ms, max=4.8ms
+  policy_setup: mean=25.5us, total=0.5ms, count=18, min=0.0ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/15 02:01:20 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/15 02:01:20 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 14 episodes, total_time=5764.81s
+  Worker averages:
+  episode_total: mean=176.81s, total=3182.55s, count=18, min=3358.2ms, max=239007.3ms
+  sensor_polling: mean=458.7ms, total=2185.00s, count=4763, min=381.1ms, max=1177.2ms
+  save_trajectories: mean=11.53s, total=161.36s, count=14, min=10377.9ms, max=12865.6ms
+  physics_step: mean=25.6ms, total=122.02s, count=4763, min=16.0ms, max=95.7ms
+  save_batch_prep: mean=5.72s, total=80.05s, count=14, min=4049.0ms, max=8744.3ms
+  task_sampling: mean=781.8ms, total=14.07s, count=18, min=338.6ms, max=4636.5ms
+  task_specific_sample: mean=556.0ms, total=10.01s, count=18, min=335.4ms, max=1276.2ms
+  scene_load: mean=3.99s, total=3.99s, count=1, min=3988.8ms, max=3988.8ms
+  scene_env_create: mean=2.18s, total=2.18s, count=1, min=2176.4ms, max=2176.4ms
+  scene_compile: mean=1.59s, total=1.59s, count=1, min=1589.8ms, max=1589.8ms
+  compile_mujoco: mean=932.7ms, total=932.7ms, count=1, min=932.7ms, max=932.7ms
+  compile_xml_load: mean=526.8ms, total=526.8ms, count=1, min=526.8ms, max=526.8ms
+  scene_init: mean=159.9ms, total=159.9ms, count=1, min=159.9ms, max=159.9ms
+  compile_aux_objects: mean=76.9ms, total=76.9ms, count=1, min=76.9ms, max=76.9ms
+  compile_aux_policy_objects: mean=76.9ms, total=76.9ms, count=1, min=76.9ms, max=76.9ms
+  scene_asset_install: mean=62.2ms, total=62.2ms, count=1, min=62.2ms, max=62.2ms
+  scene_randomize: mean=2.6ms, total=46.1ms, count=18, min=1.2ms, max=4.5ms
+  asset_install_grasps: mean=42.4ms, total=42.4ms, count=1, min=42.4ms, max=42.4ms
+  compile_robot_add: mean=40.9ms, total=40.9ms, count=1, min=40.9ms, max=40.9ms
+  asset_install_objects: mean=15.0ms, total=15.0ms, count=1, min=15.0ms, max=15.0ms
+  mj_forward_sync: mean=495.7us, total=8.9ms, count=18, min=0.4ms, max=0.9ms
+  asset_install_scene: mean=4.8ms, total=4.8ms, count=1, min=4.8ms, max=4.8ms
+  policy_setup: mean=25.5us, total=0.5ms, count=18, min=0.0ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/15 02:01:23 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/15 02:01:23 INFO: Success count: 14, Total count: 14	[pipeline.py: 1491]
+05/15 02:01:23 INFO: Success rate: 100.00%	[pipeline.py: 1492]
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