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diff --git a/fridge_m_0.7_pd/chunk_004/running_log.log b/fridge_m_0.7_pd/chunk_004/running_log.log
index 98b2125ca87e2a0bfa7e2a85b441164c9f857aa2..e2130a8bf31f9d89064ea7b7c1e7dcb4174435a6 100644
--- a/fridge_m_0.7_pd/chunk_004/running_log.log
+++ b/fridge_m_0.7_pd/chunk_004/running_log.log
@@ -2803,3 +2803,3790 @@
 05/12 03:39:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
 05/12 03:39:31 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
 05/12 03:39:43 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:39:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 03:39:47 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_004	[save_utils.py: 785]
+05/12 03:39:47 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 17.03s (batch: 4.73s, save: 12.29s)	[pipeline.py: 300]
+05/12 03:39:48 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.40s:
+  episode_total: mean=213.66s, total=213.66s, count=1, min=213657.3ms, max=213657.3ms
+  sensor_polling: mean=464.2ms, total=139.27s, count=300, min=396.8ms, max=801.6ms
+  save_trajectories: mean=12.29s, total=12.29s, count=1, min=12294.1ms, max=12294.1ms
+  physics_step: mean=27.8ms, total=8.34s, count=300, min=17.1ms, max=67.7ms
+  save_batch_prep: mean=4.73s, total=4.73s, count=1, min=4733.5ms, max=4733.5ms
+  task_sampling: mean=398.7ms, total=398.7ms, count=1, min=398.7ms, max=398.7ms
+  task_specific_sample: mean=394.5ms, total=394.5ms, count=1, min=394.5ms, max=394.5ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=470.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=20.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 03:39:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 03:39:50 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 03:39:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 03:39:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:39:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:39:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:39:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:39:50 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 03:39:50 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 03:39:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 03:39:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.012m, effective arm-mount z=0.872m (base_body_z=0.012m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 03:39:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 03:39:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 03:39:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.011974m	[env.py: 870]
+05/12 03:39:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 03:39:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 03:39:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 03:39:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.98127094  0.1628508   0.01197375] yaw=183.3deg	[env.py: 1019]
+05/12 03:39:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 03:39:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.01697019  0.79640836  0.01197375] yaw=-146.4deg	[env.py: 1019]
+05/12 03:39:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 03:39:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 71.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:39:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.77982294  0.64542125  0.01197375] yaw=-188.2deg	[env.py: 1019]
+05/12 03:39:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 03:39:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 03:39:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=130.9ms, total=131.0ms	[env.py: 1075]
+05/12 03:39:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.981, 0.163, 0.012)	[env.py: 1079]
+05/12 03:39:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 183.3 deg	[env.py: 1082]
+05/12 03:39:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.789m	[env.py: 1086]
+05/12 03:39:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:39:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:39:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:39:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:39:50 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 03:39:50 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/12 03:39:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.126s	[base_object_manipulation_planner_policy.py: 377]
+05/12 03:39:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 03:39:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 03:39:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.091s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 03:39:51 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.886s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 03:39:51 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.395[m] 85.790[deg]	[grasp_sample.py: 539]
+05/12 03:39:52 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 03:39:52 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 03:39:52 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 03:39:52 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:39:53 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 03:39:56 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:40:13 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:40:22 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 03:40:26 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:40:31 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 03:40:32 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:40:42 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 03:40:47 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:40:59 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/12 03:40:59 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/12 03:40:59 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 03:41:13 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 03:41:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 03:41:15 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_004	[save_utils.py: 785]
+05/12 03:41:15 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 16.42s (batch: 3.83s, save: 12.59s)	[pipeline.py: 300]
+05/12 03:41:16 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.48s:
+  episode_total: mean=184.19s, total=184.19s, count=1, min=184193.7ms, max=184193.7ms
+  sensor_polling: mean=424.1ms, total=127.24s, count=300, min=370.7ms, max=918.6ms
+  save_trajectories: mean=12.59s, total=12.59s, count=1, min=12592.8ms, max=12592.8ms
+  physics_step: mean=26.7ms, total=8.01s, count=300, min=21.4ms, max=147.9ms
+  save_batch_prep: mean=3.83s, total=3.83s, count=1, min=3826.3ms, max=3826.3ms
+  task_sampling: mean=476.2ms, total=476.2ms, count=1, min=476.2ms, max=476.2ms
+  task_specific_sample: mean=471.9ms, total=471.9ms, count=1, min=471.9ms, max=471.9ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=459.5us, 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]
+05/12 03:41:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 03:41:17 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 03:41:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 03:41:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:41:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:41:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:41:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:41:17 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 03:41:17 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 03:41:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 03:41:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.045m, effective arm-mount z=0.905m (base_body_z=0.045m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 03:41:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 03:41:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 03:41:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.045325m	[env.py: 870]
+05/12 03:41:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 03:41:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 03:41:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 03:41:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 95.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:41:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 87.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:41:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 126.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:41:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 109.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:41:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.19072726  1.04932763  0.04532487] yaw=-164.8deg	[env.py: 1019]
+05/12 03:41:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 03:41:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.8601913   0.16522905  0.04532487] yaw=147.5deg	[env.py: 1019]
+05/12 03:41:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 03:41:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.97476561  0.15723905  0.04532487] yaw=158.7deg	[env.py: 1019]
+05/12 03:41:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 03:41:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 03:41:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=511.2ms, total=511.3ms	[env.py: 1075]
+05/12 03:41:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.191, 1.049, 0.045)	[env.py: 1079]
+05/12 03:41:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -164.8 deg	[env.py: 1082]
+05/12 03:41:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.764m	[env.py: 1086]
+05/12 03:41:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:41:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:41:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:41:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:41:18 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 03:41:18 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/12 03:41:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.109s	[base_object_manipulation_planner_policy.py: 377]
+05/12 03:41:18 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]
+05/12 03:41:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 03:41:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 03:41:19 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.729s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 03:41:19 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.450[m] 79.252[deg]	[grasp_sample.py: 539]
+05/12 03:41:19 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 03:41:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 03:41:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:41:40 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/12 03:41:40 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/12 03:41:40 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 03:41:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:41:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:41:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:41:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:41:58 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:41:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 03:41:59 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_004	[save_utils.py: 785]
+05/12 03:41:59 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 18.48s (batch: 4.79s, save: 13.69s)	[pipeline.py: 300]
+05/12 03:41:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:41:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:42:00 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.74s:
+  episode_total: mean=191.88s, total=191.88s, count=1, min=191879.1ms, max=191879.1ms
+  sensor_polling: mean=441.6ms, total=132.47s, count=300, min=388.9ms, max=735.7ms
+  save_trajectories: mean=13.69s, total=13.69s, count=1, min=13693.2ms, max=13693.2ms
+  physics_step: mean=26.9ms, total=8.06s, count=300, min=21.5ms, max=37.1ms
+  save_batch_prep: mean=4.79s, total=4.79s, count=1, min=4787.2ms, max=4787.2ms
+  task_sampling: mean=741.4ms, total=741.4ms, count=1, min=741.4ms, max=741.4ms
+  task_specific_sample: mean=736.2ms, total=736.2ms, count=1, min=736.2ms, max=736.2ms
+  scene_randomize: mean=3.6ms, total=3.6ms, count=1, min=3.6ms, max=3.6ms
+  mj_forward_sync: mean=631.4us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=22.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 03:42:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:42:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:42:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 03:42:01 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 03:42:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 03:42:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:42:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:42:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:42:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:42:01 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 03:42:01 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 03:42:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 03:42:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.035m, effective arm-mount z=0.895m (base_body_z=0.035m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 03:42:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 03:42:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 03:42:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.035317m	[env.py: 870]
+05/12 03:42:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 03:42:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 03:42:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 03:42:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.662116    0.66954313  0.035317  ] yaw=-161.2deg	[env.py: 1019]
+05/12 03:42:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 03:42:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.88724804  1.07973773  0.035317  ] yaw=-118.2deg	[env.py: 1019]
+05/12 03:42:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 03:42:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.94900887  0.66389387  0.035317  ] yaw=-192.0deg	[env.py: 1019]
+05/12 03:42:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 03:42:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 03:42:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=121.3ms, total=121.4ms	[env.py: 1075]
+05/12 03:42:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.662, 0.670, 0.035)	[env.py: 1079]
+05/12 03:42:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -161.2 deg	[env.py: 1082]
+05/12 03:42:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.057m	[env.py: 1086]
+05/12 03:42:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:42:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:42:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:42:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:42:02 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 03:42:02 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/12 03:42:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.118s	[base_object_manipulation_planner_policy.py: 377]
+05/12 03:42:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 03:42:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 03:42:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.088s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 03:42:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:42:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.083s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 03:42:03 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.575[m] 76.491[deg]	[grasp_sample.py: 539]
+05/12 03:42:03 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 03:42:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:42:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 03:42:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:42:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:42:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:42:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:42:06 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 03:42:06 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 03:42:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 03:42:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 03:42:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.087s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/12 03:42:07 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 03:42:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:42:08 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.543s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 03:42:08 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.239[deg]	[grasp_sample.py: 539]
+05/12 03:42:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:42:10 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/12 03:42:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:42:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 03:42:11 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 03:42:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 03:42:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:42:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:42:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:42:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:42:11 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 03:42:11 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 03:42:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 03:42:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.030m, effective arm-mount z=0.890m (base_body_z=0.030m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 03:42:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 03:42:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 03:42:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.030108m	[env.py: 870]
+05/12 03:42:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 03:42:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 03:42:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 03:42:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 78.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:42:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 172.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:42:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.66794208  0.37910144  0.03010751] yaw=202.5deg	[env.py: 1019]
+05/12 03:42:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 03:42:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 62.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:42:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.78732748  0.25470946  0.03010751] yaw=178.6deg	[env.py: 1019]
+05/12 03:42:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 03:42:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.06666286  1.02283533  0.03010751] yaw=-131.6deg	[env.py: 1019]
+05/12 03:42:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 03:42:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 03:42:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=201.2ms, total=201.3ms	[env.py: 1075]
+05/12 03:42:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.668, 0.379, 0.030)	[env.py: 1079]
+05/12 03:42:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 202.5 deg	[env.py: 1082]
+05/12 03:42:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.040m	[env.py: 1086]
+05/12 03:42:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:42:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:42:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:42:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:42:12 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:42:12 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 03:42:12 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/12 03:42:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.101s	[base_object_manipulation_planner_policy.py: 377]
+05/12 03:42:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 03:42:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 03:42:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.095s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 03:42:13 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.126s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 03:42:13 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.686[m] 91.375[deg]	[grasp_sample.py: 539]
+05/12 03:42:13 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 03:42:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:42:14 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 03:42:14 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:42:14 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 03:42:27 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/12 03:42:27 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 03:42:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 03:42:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 03:42:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.082s, found 70 non-colliding grasps	[grasp_sample.py: 465]
+05/12 03:42:29 INFO: [Worker 0] Feasibility-checked 70 grasps in 2.463s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 03:42:29 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.066[m] 4.327[deg]	[grasp_sample.py: 539]
+05/12 03:42:29 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 03:42:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 03:42:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:42:36 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:42:46 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 03:42:50 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:42:58 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:42:59 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 03:43:07 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 03:43:12 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:43:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:43:21 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:43:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:43:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:43:26 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/12 03:43:26 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/12 03:43:26 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 03:43:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:43:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:43:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:43:31 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 03:43:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:43:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:43:33 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 03:43:33 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 03:43:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 03:43:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 03:43:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.087s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/12 03:43:35 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:43:35 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.665s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 03:43:35 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 1.145[deg]	[grasp_sample.py: 539]
+05/12 03:43:37 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/12 03:43:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 03:43:38 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 03:43:38 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 03:43:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:43:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:43:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:43:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:43:38 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 03:43:38 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 03:43:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 03:43:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.019m, effective arm-mount z=0.879m (base_body_z=0.019m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 03:43:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 03:43:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 03:43:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.019431m	[env.py: 870]
+05/12 03:43:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 03:43:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 03:43:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 03:43:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 176.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:43:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 121.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:43:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.07369222  0.95802279  0.01943138] yaw=-146.3deg	[env.py: 1019]
+05/12 03:43:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 03:43:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 76.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:43:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -72.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:43:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.87969652  0.3099881   0.01943138] yaw=205.2deg	[env.py: 1019]
+05/12 03:43:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 03:43:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.07422562  0.95137394  0.01943138] yaw=-122.0deg	[env.py: 1019]
+05/12 03:43:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 03:43:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 03:43:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=178.3ms, total=178.4ms	[env.py: 1075]
+05/12 03:43:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.074, 0.958, 0.019)	[env.py: 1079]
+05/12 03:43:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -146.3 deg	[env.py: 1082]
+05/12 03:43:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.789m	[env.py: 1086]
+05/12 03:43:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:43:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:43:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:43:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:43:39 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 03:43:39 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/12 03:43:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.061s	[base_object_manipulation_planner_policy.py: 377]
+05/12 03:43:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 03:43:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 03:43:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.084s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 03:43:40 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.799s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 03:43:40 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.368[m] 89.144[deg]	[grasp_sample.py: 539]
+05/12 03:43:40 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 03:43:40 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 03:43:40 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:43:41 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 03:43:41 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_004	[save_utils.py: 785]
+05/12 03:43:41 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 15.53s (batch: 3.99s, save: 11.54s)	[pipeline.py: 300]
+05/12 03:43:43 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.47s:
+  episode_total: mean=232.83s, total=232.83s, count=1, min=232829.9ms, max=232829.9ms
+  sensor_polling: mean=479.5ms, total=143.85s, count=300, min=409.9ms, max=842.3ms
+  save_trajectories: mean=11.54s, total=11.54s, count=1, min=11540.0ms, max=11540.0ms
+  physics_step: mean=27.5ms, total=8.25s, count=300, min=21.7ms, max=79.6ms
+  save_batch_prep: mean=3.99s, total=3.99s, count=1, min=3991.4ms, max=3991.4ms
+  task_sampling: mean=470.4ms, total=470.4ms, count=1, min=470.4ms, max=470.4ms
+  task_specific_sample: mean=466.2ms, total=466.2ms, count=1, min=466.2ms, max=466.2ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=454.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=27.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 03:43:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 03:43:45 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 03:43:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 03:43:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:43:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:43:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:43:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:43:45 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 03:43:45 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 03:43:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 03:43:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.100m, effective arm-mount z=0.960m (base_body_z=0.100m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 03:43:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 03:43:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 03:43:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.099594m	[env.py: 870]
+05/12 03:43:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 03:43:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 03:43:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 03:43:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -69.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:43:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 114.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:43:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -61.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:43:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 59.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:43:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.76978277  0.56772585  0.09959418] yaw=-156.7deg	[env.py: 1019]
+05/12 03:43:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 03:43:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.66738328  0.72591213  0.09959418] yaw=-138.3deg	[env.py: 1019]
+05/12 03:43:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 03:43:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.70020412  0.66530018  0.09959418] yaw=-150.5deg	[env.py: 1019]
+05/12 03:43:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 03:43:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 03:43:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=193.0ms, total=193.0ms	[env.py: 1075]
+05/12 03:43:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.770, 0.568, 0.100)	[env.py: 1079]
+05/12 03:43:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -156.7 deg	[env.py: 1082]
+05/12 03:43:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.936m	[env.py: 1086]
+05/12 03:43:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:43:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:43:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:43:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:43:45 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 03:43:45 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/12 03:43:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.121s	[base_object_manipulation_planner_policy.py: 377]
+05/12 03:43:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 03:43:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 03:43:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 03:43:47 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.146s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 03:43:47 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.515[m] 88.067[deg]	[grasp_sample.py: 539]
+05/12 03:43:47 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 03:43:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 03:43:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:43:48 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 03:44:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:44:20 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 03:44:25 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:44:32 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 03:44:42 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:44:42 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 03:44:52 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 03:44:56 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:45:00 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/12 03:45:00 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/12 03:45:00 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 03:45:11 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/12 03:45:11 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/12 03:45:11 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 03:45:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 03:45:16 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_004	[save_utils.py: 785]
+05/12 03:45:16 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 15.93s (batch: 4.27s, save: 11.65s)	[pipeline.py: 300]
+05/12 03:45:17 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.46s:
+  episode_total: mean=195.76s, total=195.76s, count=1, min=195760.4ms, max=195760.4ms
+  sensor_polling: mean=457.8ms, total=137.34s, count=300, min=396.6ms, max=764.8ms
+  save_trajectories: mean=11.65s, total=11.65s, count=1, min=11652.1ms, max=11652.1ms
+  physics_step: mean=27.9ms, total=8.37s, count=300, min=21.7ms, max=41.5ms
+  save_batch_prep: mean=4.27s, total=4.27s, count=1, min=4273.9ms, max=4273.9ms
+  task_sampling: mean=457.7ms, total=457.7ms, count=1, min=457.7ms, max=457.7ms
+  task_specific_sample: mean=452.5ms, total=452.5ms, count=1, min=452.5ms, max=452.5ms
+  scene_randomize: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms
+  mj_forward_sync: mean=648.5us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=28.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 03:45:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 03:45:19 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 03:45:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 03:45:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:45:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:45:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:45:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:45:19 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 03:45:19 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 03:45:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 03:45:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.083m, effective arm-mount z=0.943m (base_body_z=0.083m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 03:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 03:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 03:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.082593m	[env.py: 870]
+05/12 03:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 03:45:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 03:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 03:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.95066684  0.15314412  0.08259266] yaw=172.7deg	[env.py: 1019]
+05/12 03:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 03:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.83588232  0.8743677   0.08259266] yaw=-126.8deg	[env.py: 1019]
+05/12 03:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 03:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 119.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 89.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.71949477  0.90167711  0.08259266] yaw=-188.1deg	[env.py: 1019]
+05/12 03:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 03:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 03:45:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=125.4ms, total=125.4ms	[env.py: 1075]
+05/12 03:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.951, 0.153, 0.083)	[env.py: 1079]
+05/12 03:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 172.7 deg	[env.py: 1082]
+05/12 03:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.820m	[env.py: 1086]
+05/12 03:45:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:45:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:45:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:45:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:45:19 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 03:45:19 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/12 03:45:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.116s	[base_object_manipulation_planner_policy.py: 377]
+05/12 03:45:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 03:45:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 03:45:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.090s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 03:45:20 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.075s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 03:45:20 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.374[m] 78.531[deg]	[grasp_sample.py: 539]
+05/12 03:45:21 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 03:45:21 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 03:45:21 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:45:22 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 03:45:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 03:45:27 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_004	[save_utils.py: 785]
+05/12 03:45:27 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 15.61s (batch: 3.89s, save: 11.72s)	[pipeline.py: 300]
+05/12 03:45:28 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=1.04s:
+  episode_total: mean=178.72s, total=357.44s, count=2, min=161147.7ms, max=196288.2ms
+  sensor_polling: mean=459.3ms, total=272.83s, count=594, min=393.8ms, max=1020.0ms
+  physics_step: mean=27.6ms, total=16.39s, count=594, min=16.8ms, max=65.3ms
+  save_trajectories: mean=11.72s, total=11.72s, count=1, min=11717.2ms, max=11717.2ms
+  save_batch_prep: mean=3.89s, total=3.89s, count=1, min=3890.6ms, max=3890.6ms
+  task_sampling: mean=519.3ms, total=1.04s, count=2, min=512.7ms, max=526.0ms
+  task_specific_sample: mean=514.3ms, total=1.03s, count=2, min=507.3ms, max=521.3ms
+  scene_randomize: mean=1.9ms, total=3.7ms, count=2, min=1.9ms, max=1.9ms
+  mj_forward_sync: mean=458.8us, total=0.9ms, count=2, min=0.5ms, max=0.5ms
+  policy_setup: mean=24.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 03:45:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 03:45:29 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 03:45:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 03:45:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:45:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:45:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:45:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:45:29 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 03:45:29 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 03:45:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 03:45:29 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: 256]
+05/12 03:45:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 03:45:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 03:45:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.076189m	[env.py: 870]
+05/12 03:45:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 03:45:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 03:45:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 03:45:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -68.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:45:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.76071818  0.11850101  0.07618935] yaw=182.9deg	[env.py: 1019]
+05/12 03:45:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 03:45:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.85758453  0.31630055  0.07618935] yaw=192.9deg	[env.py: 1019]
+05/12 03:45:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 03:45:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -53.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:45:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.8524526   0.20814818  0.07618935] yaw=145.5deg	[env.py: 1019]
+05/12 03:45:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 03:45:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 03:45:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=142.5ms, total=142.5ms	[env.py: 1075]
+05/12 03:45:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.761, 0.119, 0.076)	[env.py: 1079]
+05/12 03:45:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 182.9 deg	[env.py: 1082]
+05/12 03:45:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.009m	[env.py: 1086]
+05/12 03:45:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:45:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:45:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:45:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:45:29 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 03:45:29 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/12 03:45:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.133s	[base_object_manipulation_planner_policy.py: 377]
+05/12 03:45:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 03:45:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 03:45:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.089s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 03:45:32 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.640s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 03:45:32 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.625[m] 92.707[deg]	[grasp_sample.py: 539]
+05/12 03:45:32 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 03:45:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 03:45:33 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:45:33 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 03:45:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:45:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:45:57 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:45:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:46:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:46:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:46:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:46:06 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 03:46:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:46:07 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 03:46:11 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:46:19 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 03:46:33 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:46:35 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/12 03:46:35 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/12 03:46:35 INFO: [Worker 0] Preparing episode data: 296 timesteps	[save_utils.py: 278]
+05/12 03:46:42 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 03:46:46 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:46:47 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/12 03:46:47 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/12 03:46:47 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 03:46:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 03:46:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_004	[save_utils.py: 785]
+05/12 03:46:51 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 16.28s (batch: 4.51s, save: 11.78s)	[pipeline.py: 300]
+05/12 03:46:52 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=1.27s:
+  episode_total: mean=166.71s, total=333.42s, count=2, min=139496.1ms, max=193924.4ms
+  sensor_polling: mean=433.8ms, total=240.33s, count=554, min=368.5ms, max=890.0ms
+  physics_step: mean=26.6ms, total=14.74s, count=554, min=17.2ms, max=62.1ms
+  save_trajectories: mean=11.78s, total=11.78s, count=1, min=11777.9ms, max=11777.9ms
+  save_batch_prep: mean=4.51s, total=4.51s, count=1, min=4505.6ms, max=4505.6ms
+  task_sampling: mean=635.1ms, total=1.27s, count=2, min=445.5ms, max=824.7ms
+  task_specific_sample: mean=631.3ms, total=1.26s, count=2, min=442.1ms, max=820.5ms
+  scene_randomize: mean=2.1ms, total=4.2ms, count=2, min=1.4ms, max=2.8ms
+  mj_forward_sync: mean=460.5us, total=0.9ms, count=2, min=0.5ms, max=0.5ms
+  policy_setup: mean=20.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 03:46:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:46:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 03:46:53 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 03:46:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 03:46:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:46:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:46:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:46:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:46:53 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 03:46:53 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 03:46:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 03:46:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.028m, effective arm-mount z=0.888m (base_body_z=0.028m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 03:46:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 03:46:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 03:46:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.027528m	[env.py: 870]
+05/12 03:46:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 03:46:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 03:46:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 03:46:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.89336886  0.50408321  0.02752832] yaw=-191.3deg	[env.py: 1019]
+05/12 03:46:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 03:46:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -68.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:46:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.99637115  1.10933403  0.02752832] yaw=-105.8deg	[env.py: 1019]
+05/12 03:46:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 03:46:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 73.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:46:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -60.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:46:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.91627977  0.54050783  0.02752832] yaw=-147.1deg	[env.py: 1019]
+05/12 03:46:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 03:46:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 03:46:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=195.0ms, total=195.0ms	[env.py: 1075]
+05/12 03:46:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.893, 0.504, 0.028)	[env.py: 1079]
+05/12 03:46:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -191.3 deg	[env.py: 1082]
+05/12 03:46:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.809m	[env.py: 1086]
+05/12 03:46:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:46:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:46:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:46:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:46:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:46:54 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 03:46:54 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/12 03:46:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.110s	[base_object_manipulation_planner_policy.py: 377]
+05/12 03:46:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 03:46:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 03:46:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.087s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 03:46:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.745s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 03:46:55 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.402[m] 96.743[deg]	[grasp_sample.py: 539]
+05/12 03:46:55 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 03:46:55 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 03:46:55 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:46:56 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 03:46:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:46:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:46:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:47:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:47:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:47:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 03:47:03 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_004	[save_utils.py: 785]
+05/12 03:47:03 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 16.17s (batch: 4.73s, save: 11.44s)	[pipeline.py: 300]
+05/12 03:47:04 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.55s:
+  episode_total: mean=198.95s, total=198.95s, count=1, min=198945.3ms, max=198945.3ms
+  sensor_polling: mean=464.9ms, total=139.47s, count=300, min=399.6ms, max=811.1ms
+  save_trajectories: mean=11.44s, total=11.44s, count=1, min=11442.0ms, max=11442.0ms
+  physics_step: mean=27.8ms, total=8.35s, count=300, min=21.6ms, max=42.8ms
+  save_batch_prep: mean=4.73s, total=4.73s, count=1, min=4728.2ms, max=4728.2ms
+  task_sampling: mean=546.3ms, total=546.3ms, count=1, min=546.3ms, max=546.3ms
+  task_specific_sample: mean=541.3ms, total=541.3ms, count=1, min=541.3ms, max=541.3ms
+  scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
+  mj_forward_sync: mean=467.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=37.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 03:47:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:47:05 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 03:47:05 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 03:47:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 03:47:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 03:47:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.097s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/12 03:47:05 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.603s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 03:47:05 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.382[deg]	[grasp_sample.py: 539]
+05/12 03:47:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 03:47:05 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 03:47:05 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 03:47:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:47:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:47:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:47:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:47:05 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 03:47:05 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 03:47:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 03:47:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.057m, effective arm-mount z=0.917m (base_body_z=0.057m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 03:47:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 03:47:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 03:47:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.056795m	[env.py: 870]
+05/12 03:47:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 03:47:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 03:47:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 03:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -61.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -44.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.95394923  0.34527693  0.05679531] yaw=150.6deg	[env.py: 1019]
+05/12 03:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 03:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -79.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 60.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.68387281  0.41943218  0.05679531] yaw=192.6deg	[env.py: 1019]
+05/12 03:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 03:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 03:47:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=256.3ms, total=256.4ms	[env.py: 1075]
+05/12 03:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.954, 0.345, 0.057)	[env.py: 1079]
+05/12 03:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 150.6 deg	[env.py: 1082]
+05/12 03:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.761m	[env.py: 1086]
+05/12 03:47:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:47:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:47:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:47:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:47:06 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 03:47:06 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/12 03:47:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.111s	[base_object_manipulation_planner_policy.py: 377]
+05/12 03:47:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 03:47:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 03:47:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.086s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 03:47:07 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/12 03:47:07 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.810s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 03:47:07 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.330[m] 90.715[deg]	[grasp_sample.py: 539]
+05/12 03:47:07 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 03:47:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 03:47:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:47:08 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 03:47:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 03:47:09 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 03:47:09 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 03:47:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:47:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:47:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:47:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:47:09 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 03:47:09 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 03:47:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 03:47:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.097m, effective arm-mount z=0.957m (base_body_z=0.097m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 03:47:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 03:47:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 03:47:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.096509m	[env.py: 870]
+05/12 03:47:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 03:47:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 03:47:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 03:47:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.73074349  0.57606738  0.09650918] yaw=-183.3deg	[env.py: 1019]
+05/12 03:47:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 03:47:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -178.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:47:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 56.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:47:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 88.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:47:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -65.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:47:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.68458626  0.64713322  0.09650918] yaw=-158.6deg	[env.py: 1019]
+05/12 03:47:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 03:47:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.75839694  0.62982618  0.09650918] yaw=-202.4deg	[env.py: 1019]
+05/12 03:47:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 03:47:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 03:47:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=191.0ms, total=191.0ms	[env.py: 1075]
+05/12 03:47:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.731, 0.576, 0.097)	[env.py: 1079]
+05/12 03:47:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -183.3 deg	[env.py: 1082]
+05/12 03:47:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.976m	[env.py: 1086]
+05/12 03:47:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:47:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:47:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:47:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:47:09 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 03:47:09 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/12 03:47:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s	[base_object_manipulation_planner_policy.py: 377]
+05/12 03:47:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 03:47:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 03:47:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.087s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 03:47:10 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.860s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 03:47:10 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.521[m] 81.376[deg]	[grasp_sample.py: 539]
+05/12 03:47:10 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 03:47:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 03:47:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:47:11 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 03:47:33 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:47:40 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:47:43 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 03:47:47 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:47:50 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 03:47:54 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:47:59 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:48:01 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 03:48:08 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 03:48:13 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:48:28 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/12 03:48:28 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/12 03:48:28 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 03:48:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:48:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:48:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:48:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:48:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:48:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:48:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:48:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:48:41 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 03:48:41 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 03:48:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 03:48:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 03:48:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.093s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/12 03:48:42 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.750s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 03:48:42 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.033[m] 0.205[deg]	[grasp_sample.py: 539]
+05/12 03:48:43 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/12 03:48:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 03:48:44 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_004	[save_utils.py: 785]
+05/12 03:48:44 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 15.62s (batch: 3.64s, save: 11.98s)	[pipeline.py: 300]
+05/12 03:48:45 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.45s:
+  episode_total: mean=195.54s, total=195.54s, count=1, min=195538.7ms, max=195538.7ms
+  sensor_polling: mean=453.7ms, total=136.10s, count=300, min=394.8ms, max=1060.3ms
+  save_trajectories: mean=11.98s, total=11.98s, count=1, min=11975.6ms, max=11975.6ms
+  physics_step: mean=27.6ms, total=8.29s, count=300, min=21.7ms, max=53.3ms
+  save_batch_prep: mean=3.64s, total=3.64s, count=1, min=3640.5ms, max=3640.5ms
+  task_sampling: mean=454.8ms, total=454.8ms, count=1, min=454.8ms, max=454.8ms
+  task_specific_sample: mean=450.6ms, total=450.6ms, count=1, min=450.6ms, max=450.6ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=469.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=16.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 03:48:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 03:48:45 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 03:48:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 03:48:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:48:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:48:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:48:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:48:45 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 03:48:45 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 03:48:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 03:48:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.079m, effective arm-mount z=0.939m (base_body_z=0.079m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 03:48:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 03:48:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 03:48:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.079256m	[env.py: 870]
+05/12 03:48:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 03:48:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 03:48:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 03:48:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.70956793  0.51963227  0.07925573] yaw=-197.3deg	[env.py: 1019]
+05/12 03:48:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 03:48:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.98488147  0.90263345  0.07925573] yaw=-175.3deg	[env.py: 1019]
+05/12 03:48:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 03:48:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.7878588   0.85055442  0.07925573] yaw=-166.6deg	[env.py: 1019]
+05/12 03:48:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 03:48:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 03:48:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=193.1ms, total=193.2ms	[env.py: 1075]
+05/12 03:48:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.710, 0.520, 0.079)	[env.py: 1079]
+05/12 03:48:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -197.3 deg	[env.py: 1082]
+05/12 03:48:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.993m	[env.py: 1086]
+05/12 03:48:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:48:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:48:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:48:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:48:45 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 03:48:45 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/12 03:48:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s	[base_object_manipulation_planner_policy.py: 377]
+05/12 03:48:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 03:48:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 03:48:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.089s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 03:48:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 03:48:46 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 03:48:46 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 03:48:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:48:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:48:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:48:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:48:46 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 03:48:46 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 03:48:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 03:48:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.033m, effective arm-mount z=0.893m (base_body_z=0.033m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 03:48:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 03:48:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 03:48:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.032917m	[env.py: 870]
+05/12 03:48:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 03:48:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 03:48:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 03:48:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 105.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:48:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.79608011  0.82901324  0.03291656] yaw=-128.3deg	[env.py: 1019]
+05/12 03:48:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 03:48:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -163.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:48:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -34.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:48:46 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.036s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 03:48:46 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.572[m] 92.120[deg]	[grasp_sample.py: 539]
+05/12 03:48:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -44.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:48:46 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 03:48:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.95490886  1.21755594  0.03291656] yaw=-125.7deg	[env.py: 1019]
+05/12 03:48:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 03:48:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.80675172  0.07180563  0.03291656] yaw=147.5deg	[env.py: 1019]
+05/12 03:48:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 03:48:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 03:48:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=225.7ms, total=225.7ms	[env.py: 1075]
+05/12 03:48:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.796, 0.829, 0.033)	[env.py: 1079]
+05/12 03:48:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -128.3 deg	[env.py: 1082]
+05/12 03:48:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.970m	[env.py: 1086]
+05/12 03:48:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:48:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:48:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:48:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:48:47 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 03:48:47 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/12 03:48:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 03:48:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:48:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.122s	[base_object_manipulation_planner_policy.py: 377]
+05/12 03:48:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 03:48:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 03:48:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 03:48:47 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 03:48:48 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.916s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 03:48:48 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.568[m] 84.065[deg]	[grasp_sample.py: 539]
+05/12 03:48:48 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 03:48:48 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 03:48:48 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:49:19 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 03:49:41 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:49:41 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 03:49:46 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/12 03:49:46 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/12 03:49:46 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 03:49:47 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:49:49 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 03:49:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:49:53 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:49:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:49:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:49:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:49:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:50:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:50:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 03:50:02 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_004	[save_utils.py: 785]
+05/12 03:50:02 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 15.74s (batch: 4.07s, save: 11.66s)	[pipeline.py: 300]
+05/12 03:50:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:50:03 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.51s:
+  episode_total: mean=189.49s, total=189.49s, count=1, min=189486.0ms, max=189486.0ms
+  sensor_polling: mean=439.8ms, total=131.93s, count=300, min=365.6ms, max=926.1ms
+  save_trajectories: mean=11.66s, total=11.66s, count=1, min=11662.6ms, max=11662.6ms
+  physics_step: mean=28.3ms, total=8.48s, count=300, min=17.8ms, max=37.5ms
+  save_batch_prep: mean=4.07s, total=4.07s, count=1, min=4073.6ms, max=4073.6ms
+  task_sampling: mean=506.4ms, total=506.4ms, count=1, min=506.4ms, max=506.4ms
+  task_specific_sample: mean=502.2ms, total=502.2ms, count=1, min=502.2ms, max=502.2ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=458.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=14.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 03:50:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:50:04 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 03:50:04 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 03:50:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 03:50:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 03:50:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.089s, found 84 non-colliding grasps	[grasp_sample.py: 465]
+05/12 03:50:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 03:50:04 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 03:50:04 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 03:50:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:50:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:50:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:50:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:50:04 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 03:50:04 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 03:50:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 03:50:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.065m, effective arm-mount z=0.925m (base_body_z=0.065m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 03:50:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 03:50:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 03:50:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.064988m	[env.py: 870]
+05/12 03:50:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 03:50:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 03:50:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 03:50:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 93.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:50:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.72985232  0.79179794  0.06498809] yaw=-154.2deg	[env.py: 1019]
+05/12 03:50:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 03:50:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 84.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:50:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.87024167  1.07499276  0.06498809] yaw=-158.4deg	[env.py: 1019]
+05/12 03:50:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 03:50:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -62.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:50:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.80732877  0.77275824  0.06498809] yaw=-191.0deg	[env.py: 1019]
+05/12 03:50:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 03:50:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 03:50:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=212.8ms, total=212.9ms	[env.py: 1075]
+05/12 03:50:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.730, 0.792, 0.065)	[env.py: 1079]
+05/12 03:50:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -154.2 deg	[env.py: 1082]
+05/12 03:50:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.021m	[env.py: 1086]
+05/12 03:50:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:50:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:50:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:50:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:50:05 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 03:50:05 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/12 03:50:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.111s	[base_object_manipulation_planner_policy.py: 377]
+05/12 03:50:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 03:50:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 03:50:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 03:50:07 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.042s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 03:50:07 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.584[m] 91.918[deg]	[grasp_sample.py: 539]
+05/12 03:50:07 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 03:50:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 03:50:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:50:08 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 03:50:08 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/12 03:50:08 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/12 03:50:08 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 03:50:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 03:50:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_004	[save_utils.py: 785]
+05/12 03:50:24 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 15.34s (batch: 4.15s, save: 11.18s)	[pipeline.py: 300]
+05/12 03:50:24 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.91s:
+  episode_total: mean=152.08s, total=304.17s, count=2, min=108190.8ms, max=195976.2ms
+  sensor_polling: mean=461.0ms, total=224.04s, count=486, min=389.3ms, max=867.2ms
+  physics_step: mean=27.9ms, total=13.56s, count=486, min=21.6ms, max=77.9ms
+  save_trajectories: mean=11.18s, total=11.18s, count=1, min=11181.5ms, max=11181.5ms
+  save_batch_prep: mean=4.15s, total=4.15s, count=1, min=4153.5ms, max=4153.5ms
+  task_sampling: mean=457.1ms, total=914.3ms, count=2, min=441.5ms, max=472.8ms
+  task_specific_sample: mean=453.2ms, total=906.5ms, count=2, min=437.4ms, max=469.1ms
+  scene_randomize: mean=2.1ms, total=4.3ms, count=2, min=1.6ms, max=2.7ms
+  mj_forward_sync: mean=477.1us, total=1.0ms, count=2, min=0.5ms, max=0.5ms
+  policy_setup: mean=18.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 03:50:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 03:50:26 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 03:50:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 03:50:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:50:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:50:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:50:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:50:26 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 03:50:26 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 03:50:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 03:50:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.022m, effective arm-mount z=0.882m (base_body_z=0.022m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 03:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 03:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 03:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.021701m	[env.py: 870]
+05/12 03:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 03:50:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 03:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 03:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -37.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -51.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -61.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 160.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 110.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.84340834  0.35979571  0.02170106] yaw=136.0deg	[env.py: 1019]
+05/12 03:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 03:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 03:50:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=198.6ms, total=198.6ms	[env.py: 1075]
+05/12 03:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.843, 0.360, 0.022)	[env.py: 1079]
+05/12 03:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 136.0 deg	[env.py: 1082]
+05/12 03:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.868m	[env.py: 1086]
+05/12 03:50:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:50:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:50:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:50:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:50:26 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 03:50:26 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/12 03:50:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.110s	[base_object_manipulation_planner_policy.py: 377]
+05/12 03:50:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 03:50:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 03:50:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 03:50:28 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.146s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 03:50:28 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.525[m] 87.895[deg]	[grasp_sample.py: 539]
+05/12 03:50:28 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 03:50:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 03:50:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:50:29 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 03:50:47 INFO: [Worker 0] Feasibility-checked 84 grasps in 43.113s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 03:50:47 INFO: [Worker 0] Feasible grasp found 204 (originally 89): w/ 0.293[m] 37.483[deg]	[grasp_sample.py: 539]
+05/12 03:50:49 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/12 03:50:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 03:50:51 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 03:50:51 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 03:50:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:50:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:50:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:50:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:50:51 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 03:50:51 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 03:50:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 03:50:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.093m, effective arm-mount z=0.953m (base_body_z=0.093m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 03:50:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 03:50:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 03:50:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.092747m	[env.py: 870]
+05/12 03:50:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 03:50:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 03:50:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 03:50:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 100.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:50:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -156.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:50:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.8272803   0.55810954  0.09274719] yaw=-167.7deg	[env.py: 1019]
+05/12 03:50:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 03:50:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 119.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:50:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.03007624  0.83867945  0.09274719] yaw=-132.8deg	[env.py: 1019]
+05/12 03:50:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 03:50:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.06229195  1.0916033   0.09274719] yaw=-111.0deg	[env.py: 1019]
+05/12 03:50:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 03:50:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 03:50:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=187.7ms, total=187.7ms	[env.py: 1075]
+05/12 03:50:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.827, 0.558, 0.093)	[env.py: 1079]
+05/12 03:50:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -167.7 deg	[env.py: 1082]
+05/12 03:50:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.878m	[env.py: 1086]
+05/12 03:50:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:50:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:50:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:50:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:50:51 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 03:50:51 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/12 03:50:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.101s	[base_object_manipulation_planner_policy.py: 377]
+05/12 03:50:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 03:50:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 03:50:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.092s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 03:50:52 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.732s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 03:50:52 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.392[m] 84.817[deg]	[grasp_sample.py: 539]
+05/12 03:50:52 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 03:50:53 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 03:50:53 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:50:53 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 03:51:00 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:51:08 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 03:51:09 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 03:51:13 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:51:17 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:51:27 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 03:51:30 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:51:31 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:51:35 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/12 03:51:35 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/12 03:51:35 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 03:51:40 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 03:51:44 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:51:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 03:51:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_004	[save_utils.py: 785]
+05/12 03:51:51 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 15.91s (batch: 3.79s, save: 12.12s)	[pipeline.py: 300]
+05/12 03:51:52 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.56s:
+  episode_total: mean=185.55s, total=185.55s, count=1, min=185547.5ms, max=185547.5ms
+  sensor_polling: mean=431.7ms, total=129.52s, count=300, min=386.1ms, max=990.2ms
+  save_trajectories: mean=12.12s, total=12.12s, count=1, min=12119.4ms, max=12119.4ms
+  physics_step: mean=25.4ms, total=7.61s, count=300, min=21.6ms, max=80.1ms
+  save_batch_prep: mean=3.79s, total=3.79s, count=1, min=3788.6ms, max=3788.6ms
+  task_sampling: mean=557.4ms, total=557.4ms, count=1, min=557.4ms, max=557.4ms
+  task_specific_sample: mean=553.2ms, total=553.2ms, count=1, min=553.2ms, max=553.2ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=450.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=17.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 03:51:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 03:51:53 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 03:51:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 03:51:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:51:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:51:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:51:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:51:53 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 03:51:53 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 03:51:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 03:51:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.097m, effective arm-mount z=0.957m (base_body_z=0.097m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 03:51:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 03:51:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 03:51:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.097024m	[env.py: 870]
+05/12 03:51:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 03:51:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 03:51:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 03:51:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.04326707  0.92768295  0.09702405] yaw=-185.6deg	[env.py: 1019]
+05/12 03:51:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 03:51:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 104.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:51:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 72.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:51:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 94.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:51:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 93.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:51:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.80131661  0.6617512   0.09702405] yaw=-202.9deg	[env.py: 1019]
+05/12 03:51:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 03:51:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.80297078  0.99573155  0.09702405] yaw=-141.1deg	[env.py: 1019]
+05/12 03:51:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 03:51:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 03:51:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=349.8ms, total=349.8ms	[env.py: 1075]
+05/12 03:51:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.043, 0.928, 0.097)	[env.py: 1079]
+05/12 03:51:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -185.6 deg	[env.py: 1082]
+05/12 03:51:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.796m	[env.py: 1086]
+05/12 03:51:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:51:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:51:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:51:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:51:54 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 03:51:54 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/12 03:51:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.128s	[base_object_manipulation_planner_policy.py: 377]
+05/12 03:51:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 03:51:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 03:51:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 03:51:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.909s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 03:51:55 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.537[m] 93.353[deg]	[grasp_sample.py: 539]
+05/12 03:51:55 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 03:51:55 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 03:51:55 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:52:27 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 03:52:47 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:52:54 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/12 03:52:54 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/12 03:52:54 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 03:52:56 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 03:53:01 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:53:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 03:53:10 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_004	[save_utils.py: 785]
+05/12 03:53:10 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 16.19s (batch: 4.62s, save: 11.57s)	[pipeline.py: 300]
+05/12 03:53:10 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 03:53:11 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.54s:
+  episode_total: mean=186.46s, total=186.46s, count=1, min=186460.1ms, max=186460.1ms
+  sensor_polling: mean=428.7ms, total=128.62s, count=300, min=369.9ms, max=915.7ms
+  save_trajectories: mean=11.57s, total=11.57s, count=1, min=11572.6ms, max=11572.6ms
+  physics_step: mean=26.0ms, total=7.81s, count=300, min=17.0ms, max=37.6ms
+  save_batch_prep: mean=4.62s, total=4.62s, count=1, min=4619.4ms, max=4619.4ms
+  task_sampling: mean=539.9ms, total=539.9ms, count=1, min=539.9ms, max=539.9ms
+  task_specific_sample: mean=535.1ms, total=535.1ms, count=1, min=535.1ms, max=535.1ms
+  scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
+  mj_forward_sync: mean=654.0us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
+  policy_setup: mean=20.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 03:53:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 03:53:12 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 03:53:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 03:53:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:53:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:53:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:53:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:53:12 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 03:53:12 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 03:53:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 03:53:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.024m, effective arm-mount z=0.884m (base_body_z=0.024m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 03:53:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 03:53:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 03:53:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.023523m	[env.py: 870]
+05/12 03:53:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 03:53:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 03:53:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 03:53:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -77.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:53:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -167.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:53:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -61.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:53:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.17585777  1.11644777  0.02352304] yaw=-105.6deg	[env.py: 1019]
+05/12 03:53:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 03:53:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 89.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:53:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.91792633  0.13575124  0.02352304] yaw=131.9deg	[env.py: 1019]
+05/12 03:53:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 03:53:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.96862168  1.05611251  0.02352304] yaw=-105.0deg	[env.py: 1019]
+05/12 03:53:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 03:53:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 03:53:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=178.0ms, total=178.1ms	[env.py: 1075]
+05/12 03:53:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.176, 1.116, 0.024)	[env.py: 1079]
+05/12 03:53:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -105.6 deg	[env.py: 1082]
+05/12 03:53:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.824m	[env.py: 1086]
+05/12 03:53:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:53:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:53:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:53:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:53:13 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 03:53:13 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/12 03:53:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.111s	[base_object_manipulation_planner_policy.py: 377]
+05/12 03:53:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 03:53:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 03:53:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.086s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 03:53:14 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.964s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 03:53:14 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.422[m] 88.791[deg]	[grasp_sample.py: 539]
+05/12 03:53:14 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 03:53:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 03:53:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:53:17 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 03:53:39 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/12 03:53:39 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/12 03:53:39 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 03:53:45 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/12 03:53:45 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/12 03:53:45 INFO: [Worker 0] Preparing episode data: 300 timesteps	[save_utils.py: 278]
+05/12 03:53:53 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:53:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 03:53:55 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_004	[save_utils.py: 785]
+05/12 03:53:55 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 15.72s (batch: 4.48s, save: 11.25s)	[pipeline.py: 300]
+05/12 03:53:56 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.51s:
+  episode_total: mean=209.81s, total=209.81s, count=1, min=209811.5ms, max=209811.5ms
+  sensor_polling: mean=451.8ms, total=135.54s, count=300, min=395.6ms, max=900.9ms
+  save_trajectories: mean=11.25s, total=11.25s, count=1, min=11245.7ms, max=11245.7ms
+  physics_step: mean=26.6ms, total=7.97s, count=300, min=21.8ms, max=35.3ms
+  save_batch_prep: mean=4.48s, total=4.48s, count=1, min=4475.0ms, max=4475.0ms
+  task_sampling: mean=511.9ms, total=511.9ms, count=1, min=511.9ms, max=511.9ms
+  task_specific_sample: mean=507.2ms, total=507.2ms, count=1, min=507.2ms, max=507.2ms
+  scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
+  mj_forward_sync: mean=520.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=16.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 03:53:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 03:53:57 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 03:53:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 03:53:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:53:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:53:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:53:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:53:57 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 03:53:57 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 03:53:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 03:53:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.083m, effective arm-mount z=0.943m (base_body_z=0.083m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 03:53:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 03:53:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 03:53:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.083452m	[env.py: 870]
+05/12 03:53:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 03:53:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 03:53:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 03:53:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.9134824   0.67359478  0.08345188] yaw=-178.7deg	[env.py: 1019]
+05/12 03:53:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 03:53:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 77.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:53:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.78270746  0.36016765  0.08345188] yaw=184.1deg	[env.py: 1019]
+05/12 03:53:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 03:53:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 82.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:53:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 89.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:53:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.71137865  0.52919327  0.08345188] yaw=-199.7deg	[env.py: 1019]
+05/12 03:53:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 03:53:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 03:53:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=218.5ms, total=218.5ms	[env.py: 1075]
+05/12 03:53:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.913, 0.674, 0.083)	[env.py: 1079]
+05/12 03:53:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -178.7 deg	[env.py: 1082]
+05/12 03:53:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.812m	[env.py: 1086]
+05/12 03:53:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:53:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:53:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:53:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:53:58 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 03:53:58 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/12 03:53:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.120s	[base_object_manipulation_planner_policy.py: 377]
+05/12 03:53:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 03:53:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 03:53:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 03:53:59 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.783s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 03:53:59 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.393[m] 96.222[deg]	[grasp_sample.py: 539]
+05/12 03:53:59 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 03:53:59 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 03:53:59 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:54:00 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 03:54:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 03:54:00 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_004	[save_utils.py: 785]
+05/12 03:54:00 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 15.67s (batch: 4.19s, save: 11.48s)	[pipeline.py: 300]
+05/12 03:54:01 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=1.54s:
+  episode_total: mean=137.49s, total=412.47s, count=3, min=97655.2ms, max=190417.3ms
+  sensor_polling: mean=457.7ms, total=267.28s, count=584, min=393.0ms, max=906.7ms
+  physics_step: mean=27.6ms, total=16.09s, count=584, min=21.6ms, max=38.8ms
+  save_trajectories: mean=11.48s, total=11.48s, count=1, min=11483.9ms, max=11483.9ms
+  save_batch_prep: mean=4.19s, total=4.19s, count=1, min=4189.5ms, max=4189.5ms
+  task_sampling: mean=512.5ms, total=1.54s, count=3, min=460.8ms, max=599.6ms
+  task_specific_sample: mean=507.8ms, total=1.52s, count=3, min=456.5ms, max=595.1ms
+  scene_randomize: mean=2.5ms, total=7.4ms, count=3, min=2.2ms, max=2.7ms
+  mj_forward_sync: mean=573.9us, total=1.7ms, count=3, min=0.4ms, max=0.6ms
+  policy_setup: mean=82.1us, total=0.2ms, count=3, min=0.0ms, max=0.2ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 03:54:02 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 03:54:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 03:54:03 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 03:54:03 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 03:54:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:54:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:54:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:54:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:54:03 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 03:54:03 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 03:54:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 03:54:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.018m, effective arm-mount z=0.878m (base_body_z=0.018m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 03:54:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 03:54:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 03:54:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.018013m	[env.py: 870]
+05/12 03:54:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 03:54:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 03:54:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 03:54:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 62.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:54:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -51.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:54:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.80088586  0.07851253  0.01801266] yaw=157.4deg	[env.py: 1019]
+05/12 03:54:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 03:54:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.96405123  0.12843017  0.01801266] yaw=189.6deg	[env.py: 1019]
+05/12 03:54:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 03:54:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 99.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:54:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.83469116  0.85259357  0.01801266] yaw=-132.4deg	[env.py: 1019]
+05/12 03:54:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 03:54:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 03:54:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=156.1ms, total=156.1ms	[env.py: 1075]
+05/12 03:54:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.801, 0.079, 0.018)	[env.py: 1079]
+05/12 03:54:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 157.4 deg	[env.py: 1082]
+05/12 03:54:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.988m	[env.py: 1086]
+05/12 03:54:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:54:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:54:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:54:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:54:03 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 03:54:03 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/12 03:54:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.118s	[base_object_manipulation_planner_policy.py: 377]
+05/12 03:54:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 03:54:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 03:54:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 03:54:06 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:54:06 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.772s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 03:54:06 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.502[m] 79.884[deg]	[grasp_sample.py: 539]
+05/12 03:54:06 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 03:54:07 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 03:54:07 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:54:07 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 03:54:24 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 03:54:36 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:54:46 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 03:54:50 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:54:50 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/12 03:54:50 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/12 03:54:50 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 03:54:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:55:03 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 03:55:07 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 03:55:07 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_004	[save_utils.py: 785]
+05/12 03:55:07 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 16.68s (batch: 3.86s, save: 12.82s)	[pipeline.py: 300]
+05/12 03:55:07 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:55:07 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.69s:
+  episode_total: mean=194.21s, total=194.21s, count=1, min=194205.3ms, max=194205.3ms
+  sensor_polling: mean=456.5ms, total=136.94s, count=300, min=391.3ms, max=1010.2ms
+  save_trajectories: mean=12.82s, total=12.82s, count=1, min=12820.9ms, max=12820.9ms
+  physics_step: mean=28.7ms, total=8.60s, count=300, min=21.7ms, max=65.6ms
+  save_batch_prep: mean=3.86s, total=3.86s, count=1, min=3855.9ms, max=3855.9ms
+  task_sampling: mean=685.7ms, total=685.7ms, count=1, min=685.7ms, max=685.7ms
+  task_specific_sample: mean=680.6ms, total=680.6ms, count=1, min=680.6ms, max=680.6ms
+  scene_randomize: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms
+  mj_forward_sync: mean=614.2us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=19.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 03:55:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 03:55:09 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 03:55:09 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 03:55:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:55:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:55:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:55:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:55:09 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 03:55:09 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 03:55:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 03:55:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.066m, effective arm-mount z=0.926m (base_body_z=0.066m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 03:55:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 03:55:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 03:55:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.066007m	[env.py: 870]
+05/12 03:55:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 03:55:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 03:55:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 03:55:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 155.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:55:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.67625693  0.46687128  0.06600707] yaw=190.8deg	[env.py: 1019]
+05/12 03:55:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 03:55:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 128.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:55:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -33.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:55:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 80.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:55:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.87771502  0.91446988  0.06600707] yaw=-139.2deg	[env.py: 1019]
+05/12 03:55:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 03:55:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.88977994  0.80605494  0.06600707] yaw=-182.4deg	[env.py: 1019]
+05/12 03:55:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 03:55:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 03:55:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=248.3ms, total=248.3ms	[env.py: 1075]
+05/12 03:55:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.676, 0.467, 0.066)	[env.py: 1079]
+05/12 03:55:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 190.8 deg	[env.py: 1082]
+05/12 03:55:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.026m	[env.py: 1086]
+05/12 03:55:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:55:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:55:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:55:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:55:10 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 03:55:10 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/12 03:55:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.123s	[base_object_manipulation_planner_policy.py: 377]
+05/12 03:55:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 03:55:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 03:55:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.089s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 03:55:11 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.311s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 03:55:11 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.581[m] 85.593[deg]	[grasp_sample.py: 539]
+05/12 03:55:11 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 03:55:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 03:55:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:55:12 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 03:55:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:55:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:55:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:55:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:55:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:55:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:55:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:55:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:55:27 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 03:55:27 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 03:55:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 03:55:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 03:55:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.091s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/12 03:55:30 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.629s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 03:55:30 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.115[m] 3.391[deg]	[grasp_sample.py: 539]
+05/12 03:55:31 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/12 03:55:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 03:55:33 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 03:55:33 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 03:55:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:55:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:55:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:55:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:55:33 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 03:55:33 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 03:55:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 03:55:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.011m, effective arm-mount z=0.871m (base_body_z=0.011m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 03:55:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 03:55:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 03:55:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.010800m	[env.py: 870]
+05/12 03:55:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 03:55:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 03:55:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 03:55:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 57.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:55:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 173.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:55:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 69.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:55:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -48.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:55:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 60.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:55:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.89208921  0.42024396  0.01080017] yaw=199.7deg	[env.py: 1019]
+05/12 03:55:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 03:55:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 03:55:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=239.0ms, total=239.0ms	[env.py: 1075]
+05/12 03:55:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.892, 0.420, 0.011)	[env.py: 1079]
+05/12 03:55:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 199.7 deg	[env.py: 1082]
+05/12 03:55:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.813m	[env.py: 1086]
+05/12 03:55:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:55:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:55:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:55:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:55:33 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 03:55:33 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/12 03:55:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s	[base_object_manipulation_planner_policy.py: 377]
+05/12 03:55:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 03:55:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 03:55:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 03:55:34 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.734s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 03:55:34 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.442[m] 90.576[deg]	[grasp_sample.py: 539]
+05/12 03:55:34 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 03:55:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 03:55:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:55:35 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 03:56:09 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:56:17 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:56:18 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 03:56:23 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:56:26 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 03:56:29 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 03:56:30 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:56:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:56:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:56:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:56:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:56:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:56:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:56:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:56:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:56:46 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 03:56:46 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 03:56:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 03:56:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 03:56:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.100s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/12 03:56:47 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.635s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 03:56:47 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.519[deg]	[grasp_sample.py: 539]
+05/12 03:56:47 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 03:56:48 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 03:56:48 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:56:51 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 03:56:58 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/12 03:56:58 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/12 03:56:58 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 03:57:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 03:57:15 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_004	[save_utils.py: 785]
+05/12 03:57:15 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 16.76s (batch: 4.55s, save: 12.21s)	[pipeline.py: 300]
+05/12 03:57:16 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.53s:
+  episode_total: mean=198.43s, total=198.43s, count=1, min=198431.5ms, max=198431.5ms
+  sensor_polling: mean=456.6ms, total=136.99s, count=300, min=398.8ms, max=874.9ms
+  save_trajectories: mean=12.21s, total=12.21s, count=1, min=12209.4ms, max=12209.4ms
+  physics_step: mean=26.7ms, total=8.02s, count=300, min=21.6ms, max=33.8ms
+  save_batch_prep: mean=4.55s, total=4.55s, count=1, min=4551.1ms, max=4551.1ms
+  task_sampling: mean=527.2ms, total=527.2ms, count=1, min=527.2ms, max=527.2ms
+  task_specific_sample: mean=523.0ms, total=523.0ms, count=1, min=523.0ms, max=523.0ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=473.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=19.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 03:57:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:57:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 03:57:17 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 03:57:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 03:57:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:57:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:57:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:57:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:57:17 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 03:57:17 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 03:57:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 03:57:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.033m, effective arm-mount z=0.893m (base_body_z=0.033m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 03:57:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 03:57:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 03:57:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.033340m	[env.py: 870]
+05/12 03:57:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 03:57:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 03:57:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 03:57:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -67.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:57:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.01896253  0.82624744  0.0333397 ] yaw=-168.4deg	[env.py: 1019]
+05/12 03:57:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 03:57:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -49.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:57:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.82727582  0.16613501  0.0333397 ] yaw=194.9deg	[env.py: 1019]
+05/12 03:57:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 03:57:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 58.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:57:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.95321604  1.15547449  0.0333397 ] yaw=-114.7deg	[env.py: 1019]
+05/12 03:57:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 03:57:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 03:57:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=170.5ms, total=170.5ms	[env.py: 1075]
+05/12 03:57:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.019, 0.826, 0.033)	[env.py: 1079]
+05/12 03:57:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -168.4 deg	[env.py: 1082]
+05/12 03:57:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.765m	[env.py: 1086]
+05/12 03:57:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:57:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:57:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:57:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:57:18 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 03:57:18 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/12 03:57:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.129s	[base_object_manipulation_planner_policy.py: 377]
+05/12 03:57:18 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]
+05/12 03:57:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 03:57:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 03:57:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:57:19 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.819s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 03:57:19 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.378[m] 89.328[deg]	[grasp_sample.py: 539]
+05/12 03:57:19 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/12 03:57:19 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/12 03:57:19 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 03:57:19 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 03:57:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 03:57:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:57:20 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 03:57:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:57:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:57:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:57:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:57:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:57:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 03:57:28 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 03:57:28 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 03:57:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 03:57:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 03:57:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.096s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/12 03:57:29 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.774s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 03:57:29 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.104[m] 0.157[deg]	[grasp_sample.py: 539]
+05/12 03:57:29 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 03:57:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 03:57:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:57:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 03:57:35 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_004	[save_utils.py: 785]
+05/12 03:57:35 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 16.60s (batch: 4.60s, save: 12.00s)	[pipeline.py: 300]
+05/12 03:57:36 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.49s:
+  episode_total: mean=213.47s, total=213.47s, count=1, min=213471.4ms, max=213471.4ms
+  sensor_polling: mean=460.1ms, total=138.03s, count=300, min=407.7ms, max=973.6ms
+  save_trajectories: mean=12.00s, total=12.00s, count=1, min=11996.2ms, max=11996.2ms
+  physics_step: mean=27.7ms, total=8.30s, count=300, min=19.7ms, max=37.2ms
+  save_batch_prep: mean=4.60s, total=4.60s, count=1, min=4602.7ms, max=4602.7ms
+  task_sampling: mean=494.7ms, total=494.7ms, count=1, min=494.7ms, max=494.7ms
+  task_specific_sample: mean=490.5ms, total=490.5ms, count=1, min=490.5ms, max=490.5ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=463.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=14.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 03:57:37 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 03:57:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 03:57:38 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 03:57:38 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 03:57:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:57:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:57:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:57:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:57:38 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 03:57:38 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 03:57:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 03:57:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.041m, effective arm-mount z=0.901m (base_body_z=0.041m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 03:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 03:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 03:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.041239m	[env.py: 870]
+05/12 03:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 03:57:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 03:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 03:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 131.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.96755389  0.70816927  0.04123852] yaw=-137.0deg	[env.py: 1019]
+05/12 03:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 03:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -52.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.66693011  0.18712717  0.04123852] yaw=171.5deg	[env.py: 1019]
+05/12 03:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 03:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 73.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.00737128  0.98794618  0.04123852] yaw=-180.5deg	[env.py: 1019]
+05/12 03:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 03:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 03:57:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=171.9ms, total=172.0ms	[env.py: 1075]
+05/12 03:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.968, 0.708, 0.041)	[env.py: 1079]
+05/12 03:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -137.0 deg	[env.py: 1082]
+05/12 03:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.769m	[env.py: 1086]
+05/12 03:57:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:57:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:57:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:57:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:57:38 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 03:57:38 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/12 03:57:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.119s	[base_object_manipulation_planner_policy.py: 377]
+05/12 03:57:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 03:57:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 03:57:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.082s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 03:57:39 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:57:39 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.786s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 03:57:39 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.387[m] 89.278[deg]	[grasp_sample.py: 539]
+05/12 03:57:39 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 03:57:40 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 03:57:40 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:57:40 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 03:57:48 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 03:57:52 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:57:53 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:58:02 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 03:58:05 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/12 03:58:05 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/12 03:58:05 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 03:58:06 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:58:08 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 03:58:16 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:58:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 03:58:21 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_004	[save_utils.py: 785]
+05/12 03:58:21 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 15.75s (batch: 4.53s, save: 11.22s)	[pipeline.py: 300]
+05/12 03:58:22 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=1.06s:
+  episode_total: mean=192.87s, total=192.87s, count=1, min=192869.1ms, max=192869.1ms
+  sensor_polling: mean=449.3ms, total=134.80s, count=300, min=391.0ms, max=954.4ms
+  save_trajectories: mean=11.22s, total=11.22s, count=1, min=11224.6ms, max=11224.6ms
+  physics_step: mean=27.0ms, total=8.10s, count=300, min=17.1ms, max=60.2ms
+  save_batch_prep: mean=4.53s, total=4.53s, count=1, min=4525.6ms, max=4525.6ms
+  task_sampling: mean=1.06s, total=1.06s, count=1, min=1058.8ms, max=1058.8ms
+  task_specific_sample: mean=1.05s, total=1.05s, count=1, min=1054.6ms, max=1054.6ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=465.9us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=15.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 03:58:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 03:58:23 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 03:58:23 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 03:58:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:58:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:58:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:58:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:58:23 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 03:58:23 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 03:58:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 03:58:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.075m, effective arm-mount z=0.935m (base_body_z=0.075m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 03:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 03:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 03:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.074547m	[env.py: 870]
+05/12 03:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 03:58:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 03:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 03:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -168.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -28.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.77667894  0.9474651   0.07454745] yaw=-116.0deg	[env.py: 1019]
+05/12 03:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 03:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -176.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.91638361  1.21245618  0.07454745] yaw=-157.1deg	[env.py: 1019]
+05/12 03:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 03:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.81452155  1.10972771  0.07454745] yaw=-128.2deg	[env.py: 1019]
+05/12 03:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 03:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 03:58:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=156.3ms, total=156.4ms	[env.py: 1075]
+05/12 03:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.777, 0.947, 0.075)	[env.py: 1079]
+05/12 03:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -116.0 deg	[env.py: 1082]
+05/12 03:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.036m	[env.py: 1086]
+05/12 03:58:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:58:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:58:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:58:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:58:24 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 03:58:24 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/12 03:58:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.128s	[base_object_manipulation_planner_policy.py: 377]
+05/12 03:58:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 03:58:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 03:58:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 03:58:25 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 03:58:29 INFO: [Worker 0] Feasibility-checked 88 grasps in 5.249s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 03:58:29 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.703[m] 99.226[deg]	[grasp_sample.py: 539]
+05/12 03:58:29 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 03:58:29 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:58:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 03:58:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:58:30 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 03:58:36 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/12 03:58:36 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/12 03:58:36 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 03:58:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 03:58:53 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_004	[save_utils.py: 785]
+05/12 03:58:53 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 17.61s (batch: 4.72s, save: 12.89s)	[pipeline.py: 300]
+05/12 03:58:54 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=1.06s:
+  episode_total: mean=170.11s, total=340.22s, count=2, min=138805.4ms, max=201409.6ms
+  sensor_polling: mean=437.5ms, total=242.82s, count=555, min=372.8ms, max=872.7ms
+  physics_step: mean=27.1ms, total=15.01s, count=555, min=15.5ms, max=38.7ms
+  save_trajectories: mean=12.89s, total=12.89s, count=1, min=12892.6ms, max=12892.6ms
+  save_batch_prep: mean=4.72s, total=4.72s, count=1, min=4718.5ms, max=4718.5ms
+  task_sampling: mean=532.0ms, total=1.06s, count=2, min=525.6ms, max=538.4ms
+  task_specific_sample: mean=528.0ms, total=1.06s, count=2, min=521.1ms, max=535.0ms
+  scene_randomize: mean=2.1ms, total=4.2ms, count=2, min=1.4ms, max=2.9ms
+  mj_forward_sync: mean=459.5us, total=0.9ms, count=2, min=0.5ms, max=0.5ms
+  policy_setup: mean=20.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 03:58:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 03:58:55 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 03:58:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 03:58:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:58:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:58:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:58:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:58:55 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 03:58:55 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 03:58:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 03:58:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.041m, effective arm-mount z=0.901m (base_body_z=0.041m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 03:58:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 03:58:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 03:58:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.041281m	[env.py: 870]
+05/12 03:58:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 03:58:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 03:58:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 03:58:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 101.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:58:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.6619838   0.60304156  0.04128105] yaw=-182.5deg	[env.py: 1019]
+05/12 03:58:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 03:58:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 125.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:58:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.65007929  0.59702726  0.04128105] yaw=-213.1deg	[env.py: 1019]
+05/12 03:58:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 03:58:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 118.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 03:58:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.992662    0.13590907  0.04128105] yaw=186.1deg	[env.py: 1019]
+05/12 03:58:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 03:58:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 03:58:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=174.9ms, total=175.0ms	[env.py: 1075]
+05/12 03:58:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.662, 0.603, 0.041)	[env.py: 1079]
+05/12 03:58:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -182.5 deg	[env.py: 1082]
+05/12 03:58:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.047m	[env.py: 1086]
+05/12 03:58:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 03:58:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 03:58:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 03:58:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 03:58:56 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 03:58:56 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/12 03:58:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.122s	[base_object_manipulation_planner_policy.py: 377]
+05/12 03:58:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 03:58:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 03:58:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 03:58:57 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.864s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 03:58:57 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.559[m] 84.414[deg]	[grasp_sample.py: 539]
+05/12 03:58:57 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 03:58:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 03:58:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:58:58 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 03:59:39 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:59:44 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 03:59:48 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 03:59:51 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 03:59:53 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:00:00 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 04:00:04 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:00:11 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 04:00:12 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/12 04:00:12 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/12 04:00:12 INFO: [Worker 0] Preparing episode data: 297 timesteps	[save_utils.py: 278]
+05/12 04:00:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 04:00:29 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_004	[save_utils.py: 785]
+05/12 04:00:29 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 16.50s (batch: 4.45s, save: 12.05s)	[pipeline.py: 300]
+05/12 04:00:30 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.50s:
+  episode_total: mean=192.60s, total=192.60s, count=1, min=192596.7ms, max=192596.7ms
+  sensor_polling: mean=452.7ms, total=134.00s, count=296, min=400.9ms, max=846.2ms
+  save_trajectories: mean=12.05s, total=12.05s, count=1, min=12050.6ms, max=12050.6ms
+  physics_step: mean=27.4ms, total=8.11s, count=296, min=21.7ms, max=98.2ms
+  save_batch_prep: mean=4.45s, total=4.45s, count=1, min=4447.7ms, max=4447.7ms
+  task_sampling: mean=501.8ms, total=501.8ms, count=1, min=501.8ms, max=501.8ms
+  task_specific_sample: mean=497.7ms, total=497.7ms, count=1, min=497.7ms, max=497.7ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=468.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=19.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 04:00:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 04:00:31 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 04:00:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 04:00:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 04:00:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 04:00:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 04:00:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 04:00:31 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 04:00:31 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 04:00:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 04:00:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.087m, effective arm-mount z=0.947m (base_body_z=0.087m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 04:00:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 04:00:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 04:00:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.087495m	[env.py: 870]
+05/12 04:00:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 04:00:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 04:00:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 04:00:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -68.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:00:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -71.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:00:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -71.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:00:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 115.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:00:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.73825235  0.28966894  0.08749517] yaw=135.4deg	[env.py: 1019]
+05/12 04:00:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 04:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.90596271  1.06223966  0.08749517] yaw=-158.8deg	[env.py: 1019]
+05/12 04:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 04:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.92962393  1.21477955  0.08749517] yaw=-132.6deg	[env.py: 1019]
+05/12 04:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 04:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 04:00:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=367.8ms, total=367.8ms	[env.py: 1075]
+05/12 04:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.738, 0.290, 0.087)	[env.py: 1079]
+05/12 04:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 135.4 deg	[env.py: 1082]
+05/12 04:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.983m	[env.py: 1086]
+05/12 04:00:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 04:00:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 04:00:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 04:00:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 04:00:32 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 04:00:32 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/12 04:00:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s	[base_object_manipulation_planner_policy.py: 377]
+05/12 04:00:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 04:00:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 04:00:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.086s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 04:00:36 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.962s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 04:00:36 INFO: [Worker 0] Feasible grasp found 14 (originally 14): w/ 0.635[m] 102.662[deg]	[grasp_sample.py: 539]
+05/12 04:00:36 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 04:00:37 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 04:00:37 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:00:37 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 04:00:40 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/12 04:00:40 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/12 04:00:40 INFO: [Worker 0] Preparing episode data: 300 timesteps	[save_utils.py: 278]
+05/12 04:00:54 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 04:00:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 04:00:57 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_004	[save_utils.py: 785]
+05/12 04:00:57 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 16.35s (batch: 4.14s, save: 12.21s)	[pipeline.py: 300]
+05/12 04:00:57 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.52s:
+  episode_total: mean=199.78s, total=199.78s, count=1, min=199784.4ms, max=199784.4ms
+  sensor_polling: mean=465.4ms, total=139.16s, count=299, min=400.4ms, max=830.2ms
+  save_trajectories: mean=12.21s, total=12.21s, count=1, min=12207.0ms, max=12207.0ms
+  physics_step: mean=28.2ms, total=8.42s, count=299, min=21.6ms, max=36.5ms
+  save_batch_prep: mean=4.14s, total=4.14s, count=1, min=4139.2ms, max=4139.2ms
+  task_sampling: mean=517.2ms, total=517.2ms, count=1, min=517.2ms, max=517.2ms
+  task_specific_sample: mean=512.8ms, total=512.8ms, count=1, min=512.8ms, max=512.8ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=462.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=18.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 04:00:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 04:00:59 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 04:00:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 04:00:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 04:00:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 04:00:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 04:00:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 04:00:59 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 04:00:59 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 04:00:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 04:00:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.089m, effective arm-mount z=0.949m (base_body_z=0.089m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 04:00:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 04:00:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 04:00:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.088652m	[env.py: 870]
+05/12 04:00:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 04:00:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 04:00:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 04:00:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -46.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:00:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 109.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:00:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 53.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:00:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.82990363  0.09270415  0.0886523 ] yaw=167.0deg	[env.py: 1019]
+05/12 04:00:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 04:00:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -41.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:00:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.9898339   1.25603792  0.0886523 ] yaw=-124.5deg	[env.py: 1019]
+05/12 04:00:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 04:01:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.00679987  0.13912476  0.0886523 ] yaw=186.1deg	[env.py: 1019]
+05/12 04:01:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 04:01:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 04:01:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=506.5ms, total=506.5ms	[env.py: 1075]
+05/12 04:01:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.830, 0.093, 0.089)	[env.py: 1079]
+05/12 04:01:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 167.0 deg	[env.py: 1082]
+05/12 04:01:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.955m	[env.py: 1086]
+05/12 04:01:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 04:01:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 04:01:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 04:01:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 04:01:00 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 04:01:00 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/12 04:01:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.116s	[base_object_manipulation_planner_policy.py: 377]
+05/12 04:01:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 04:01:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 04:01:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 04:01:01 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.899s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 04:01:01 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.509[m] 84.720[deg]	[grasp_sample.py: 539]
+05/12 04:01:02 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/12 04:01:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 04:01:04 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 04:01:04 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 04:01:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 04:01:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 04:01:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 04:01:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 04:01:04 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 04:01:04 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 04:01:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 04:01:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.098m, effective arm-mount z=0.958m (base_body_z=0.098m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 04:01:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 04:01:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 04:01:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.097874m	[env.py: 870]
+05/12 04:01:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 04:01:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 04:01:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 04:01:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 116.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:01:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -49.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:01:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 101.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:01:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.63540602  0.66346386  0.09787418] yaw=-195.5deg	[env.py: 1019]
+05/12 04:01:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 04:01:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.70525554  0.42042267  0.09787418] yaw=144.7deg	[env.py: 1019]
+05/12 04:01:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 04:01:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.73233653  0.36492469  0.09787418] yaw=202.5deg	[env.py: 1019]
+05/12 04:01:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 04:01:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 04:01:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=173.6ms, total=173.6ms	[env.py: 1075]
+05/12 04:01:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.635, 0.663, 0.098)	[env.py: 1079]
+05/12 04:01:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -195.5 deg	[env.py: 1082]
+05/12 04:01:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.082m	[env.py: 1086]
+05/12 04:01:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 04:01:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 04:01:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 04:01:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 04:01:04 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 04:01:04 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/12 04:01:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s	[base_object_manipulation_planner_policy.py: 377]
+05/12 04:01:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 04:01:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 04:01:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 04:01:06 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.726s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 04:01:06 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.714[m] 102.459[deg]	[grasp_sample.py: 539]
+05/12 04:01:07 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/12 04:01:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 04:01:09 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 04:01:09 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 04:01:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 04:01:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 04:01:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 04:01:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 04:01:09 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 04:01:09 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 04:01:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 04:01:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.063m, effective arm-mount z=0.923m (base_body_z=0.063m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 04:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 04:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 04:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.062768m	[env.py: 870]
+05/12 04:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 04:01:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 04:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 04:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -34.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 94.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -51.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.92939221  0.23125404  0.06276784] yaw=166.7deg	[env.py: 1019]
+05/12 04:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 04:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -162.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.82359749  0.87257995  0.06276784] yaw=-170.3deg	[env.py: 1019]
+05/12 04:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 04:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 04:01:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=561.2ms, total=561.3ms	[env.py: 1075]
+05/12 04:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.929, 0.231, 0.063)	[env.py: 1079]
+05/12 04:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 166.7 deg	[env.py: 1082]
+05/12 04:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.813m	[env.py: 1086]
+05/12 04:01:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 04:01:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 04:01:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 04:01:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 04:01:10 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 04:01:10 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/12 04:01:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.110s	[base_object_manipulation_planner_policy.py: 377]
+05/12 04:01:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 04:01:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 04:01:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.087s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 04:01:11 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.665s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 04:01:11 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.354[m] 89.580[deg]	[grasp_sample.py: 539]
+05/12 04:01:11 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 04:01:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 04:01:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:01:12 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 04:01:21 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 04:01:21 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/12 04:01:21 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/12 04:01:21 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 04:01:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 04:01:37 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_004	[save_utils.py: 785]
+05/12 04:01:37 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 15.63s (batch: 3.83s, save: 11.80s)	[pipeline.py: 300]
+05/12 04:01:37 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.51s:
+  episode_total: mean=194.11s, total=194.11s, count=1, min=194110.5ms, max=194110.5ms
+  sensor_polling: mean=445.7ms, total=133.71s, count=300, min=381.5ms, max=928.5ms
+  save_trajectories: mean=11.80s, total=11.80s, count=1, min=11802.9ms, max=11802.9ms
+  physics_step: mean=26.4ms, total=7.91s, count=300, min=17.0ms, max=35.0ms
+  save_batch_prep: mean=3.83s, total=3.83s, count=1, min=3829.3ms, max=3829.3ms
+  task_sampling: mean=508.4ms, total=508.4ms, count=1, min=508.4ms, max=508.4ms
+  task_specific_sample: mean=504.1ms, total=504.1ms, count=1, min=504.1ms, max=504.1ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=532.5us, 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]
+05/12 04:01:38 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:01:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 04:01:39 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 04:01:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 04:01:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 04:01:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 04:01:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 04:01:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 04:01:39 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 04:01:39 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 04:01:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 04:01:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.049m, effective arm-mount z=0.909m (base_body_z=0.049m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 04:01:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 04:01:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 04:01:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.049102m	[env.py: 870]
+05/12 04:01:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 04:01:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 04:01:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 04:01:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.91303813  0.26960285  0.04910224] yaw=125.8deg	[env.py: 1019]
+05/12 04:01:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 04:01:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -62.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:01:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -52.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:01:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 71.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:01:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.80044031  0.85928833  0.04910224] yaw=-148.4deg	[env.py: 1019]
+05/12 04:01:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 04:01:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.79225794 -0.00741258  0.04910224] yaw=112.6deg	[env.py: 1019]
+05/12 04:01:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 04:01:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 04:01:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=179.6ms, total=179.6ms	[env.py: 1075]
+05/12 04:01:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.913, 0.270, 0.049)	[env.py: 1079]
+05/12 04:01:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 125.8 deg	[env.py: 1082]
+05/12 04:01:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.817m	[env.py: 1086]
+05/12 04:01:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 04:01:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 04:01:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 04:01:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 04:01:40 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 04:01:40 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/12 04:01:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.122s	[base_object_manipulation_planner_policy.py: 377]
+05/12 04:01:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 04:01:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 04:01:40 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 04:01:41 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.863s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 04:01:41 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.550[m] 94.363[deg]	[grasp_sample.py: 539]
+05/12 04:01:41 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 04:01:41 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 04:01:41 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:01:42 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 04:01:43 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:01:47 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/12 04:01:47 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/12 04:01:47 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 04:01:48 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 04:01:53 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:01:53 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 04:01:57 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:02:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 04:02:03 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_004	[save_utils.py: 785]
+05/12 04:02:03 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 15.74s (batch: 4.79s, save: 10.95s)	[pipeline.py: 300]
+05/12 04:02:04 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.50s:
+  episode_total: mean=188.33s, total=188.33s, count=1, min=188328.2ms, max=188328.2ms
+  sensor_polling: mean=442.1ms, total=132.62s, count=300, min=377.2ms, max=919.4ms
+  save_trajectories: mean=10.95s, total=10.95s, count=1, min=10949.0ms, max=10949.0ms
+  physics_step: mean=27.3ms, total=8.20s, count=300, min=17.4ms, max=42.9ms
+  save_batch_prep: mean=4.79s, total=4.79s, count=1, min=4789.3ms, max=4789.3ms
+  task_sampling: mean=504.2ms, total=504.2ms, count=1, min=504.2ms, max=504.2ms
+  task_specific_sample: mean=499.7ms, total=499.7ms, count=1, min=499.7ms, max=499.7ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=615.6us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=18.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 04:02:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:02:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 04:02:05 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 04:02:05 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 04:02:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 04:02:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 04:02:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 04:02:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 04:02:05 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 04:02:05 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 04:02:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 04:02:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.029m, effective arm-mount z=0.889m (base_body_z=0.029m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 04:02:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 04:02:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 04:02:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.028783m	[env.py: 870]
+05/12 04:02:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 04:02:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 04:02:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 04:02:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.75117878  0.08941961  0.02878258] yaw=145.6deg	[env.py: 1019]
+05/12 04:02:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 04:02:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 63.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:02:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -47.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:02:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -41.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:02:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 90.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:02:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.86748197  0.69769568  0.02878258] yaw=-155.9deg	[env.py: 1019]
+05/12 04:02:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 04:02:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 04:02:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=248.1ms, total=248.1ms	[env.py: 1075]
+05/12 04:02:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.751, 0.089, 0.029)	[env.py: 1079]
+05/12 04:02:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 145.6 deg	[env.py: 1082]
+05/12 04:02:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.029m	[env.py: 1086]
+05/12 04:02:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 04:02:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 04:02:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 04:02:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 04:02:06 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 04:02:06 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/12 04:02:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s	[base_object_manipulation_planner_policy.py: 377]
+05/12 04:02:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 04:02:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 04:02:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.084s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 04:02:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:02:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:02:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.657s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 04:02:09 INFO: [Worker 0] Feasible grasp found 14 (originally 14): w/ 0.620[m] 95.898[deg]	[grasp_sample.py: 539]
+05/12 04:02:09 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 04:02:09 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 04:02:09 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:02:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:02:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:02:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:02:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:02:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:02:19 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 04:02:19 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 04:02:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 04:02:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 04:02:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.102s, found 66 non-colliding grasps	[grasp_sample.py: 465]
+05/12 04:02:22 INFO: [Worker 0] Feasibility-checked 66 grasps in 3.770s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 04:02:22 INFO: [Worker 0] Feasible grasp found 48 (originally 48): w/ 0.045[m] 11.462[deg]	[grasp_sample.py: 539]
+05/12 04:02:22 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 04:02:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 04:02:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:02:29 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:02:34 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:02:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:02:38 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 04:02:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:02:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:02:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:02:43 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:02:43 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 04:02:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:02:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:02:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:02:47 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:02:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:02:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:02:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:02:51 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 04:02:51 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 04:02:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 04:02:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 04:02:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/12 04:02:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:02:51 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.657s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 04:02:51 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.453[deg]	[grasp_sample.py: 539]
+05/12 04:02:53 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 04:02:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:02:53 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 04:02:53 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:02:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:02:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:02:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:02:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:02:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:03:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:03:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:03:00 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 04:03:00 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 04:03:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 04:03:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 04:03:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.090s, found 74 non-colliding grasps	[grasp_sample.py: 465]
+05/12 04:03:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:03:02 INFO: [Worker 0] Feasibility-checked 74 grasps in 2.052s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 04:03:02 INFO: [Worker 0] Feasible grasp found 30 (originally 30): w/ 0.024[m] 2.607[deg]	[grasp_sample.py: 539]
+05/12 04:03:02 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 04:03:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 04:03:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:03:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:03:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:03:07 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:03:07 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:03:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:03:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:03:10 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 04:03:10 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 04:03:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 04:03:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 04:03:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/12 04:03:11 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.653s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 04:03:11 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.049[m] 0.405[deg]	[grasp_sample.py: 539]
+05/12 04:03:12 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 04:03:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 04:03:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:03:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:03:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 04:03:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:03:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 04:03:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:03:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:03:20 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:03:21 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:03:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:03:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:03:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:03:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:03:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:03:27 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 04:03:27 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 04:03:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 04:03:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 04:03:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/12 04:03:28 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.665s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 04:03:28 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.049[m] 0.404[deg]	[grasp_sample.py: 539]
+05/12 04:03:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:03:29 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 04:03:29 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 04:03:29 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:03:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:03:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:03:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:03:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:03:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:03:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:03:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:03:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:03:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:03:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:03:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:03:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:03:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:03:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:03:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:03:39 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 04:03:39 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 04:03:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 04:03:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 04:03:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:03:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 72 non-colliding grasps	[grasp_sample.py: 465]
+05/12 04:03:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:03:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:03:41 INFO: [Worker 0] Feasibility-checked 72 grasps in 2.033s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 04:03:41 INFO: [Worker 0] Feasible grasp found 94 (originally 94): w/ 0.106[m] 0.497[deg]	[grasp_sample.py: 539]
+05/12 04:03:41 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 04:03:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 04:03:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:03:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:03:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:03:42 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 04:03:42 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/12 04:03:43 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/12 04:03:43 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=False episode_total=2.14s:
+  episode_total: mean=53.59s, total=160.76s, count=3, min=3142.6ms, max=153887.4ms
+  sensor_polling: mean=463.4ms, total=95.01s, count=205, min=409.9ms, max=784.4ms
+  physics_step: mean=25.5ms, total=5.23s, count=205, min=14.7ms, max=37.1ms
+  task_sampling: mean=713.2ms, total=2.14s, count=3, min=431.1ms, max=897.2ms
+  task_specific_sample: mean=708.9ms, total=2.13s, count=3, min=428.0ms, max=892.8ms
+  scene_randomize: mean=2.3ms, total=7.0ms, count=3, min=1.2ms, max=3.6ms
+  mj_forward_sync: mean=508.6us, total=1.5ms, count=3, min=0.5ms, max=0.6ms
+  policy_setup: mean=19.2us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 04:03:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:03:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 04:03:44 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 04:03:44 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 04:03:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 04:03:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 04:03:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 04:03:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 04:03:44 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 04:03:44 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 04:03:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 04:03:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.024m, effective arm-mount z=0.884m (base_body_z=0.024m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 04:03:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 04:03:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 04:03:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.023638m	[env.py: 870]
+05/12 04:03:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 04:03:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 04:03:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 04:03:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 125.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:03:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 98.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:03:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.7692092   0.70901839  0.02363828] yaw=-203.3deg	[env.py: 1019]
+05/12 04:03:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 04:03:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 109.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:03:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 95.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:03:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 04:03:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=266.8ms, total=266.9ms	[env.py: 1075]
+05/12 04:03:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.769, 0.709, 0.024)	[env.py: 1079]
+05/12 04:03:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -203.3 deg	[env.py: 1082]
+05/12 04:03:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.960m	[env.py: 1086]
+05/12 04:03:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 04:03:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 04:03:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 04:03:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 04:03:45 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 04:03:45 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/12 04:03:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s	[base_object_manipulation_planner_policy.py: 377]
+05/12 04:03:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 04:03:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 04:03:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 04:03:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:03:45 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 04:03:45 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 04:03:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 04:03:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 04:03:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/12 04:03:45 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/12 04:03:45 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=False episode_total=0.70s:
+  episode_total: mean=194.28s, total=194.28s, count=1, min=194281.7ms, max=194281.7ms
+  sensor_polling: mean=454.9ms, total=136.48s, count=300, min=381.3ms, max=925.2ms
+  physics_step: mean=26.1ms, total=7.82s, count=300, min=15.2ms, max=47.9ms
+  task_sampling: mean=700.0ms, total=700.0ms, count=1, min=700.0ms, max=700.0ms
+  task_specific_sample: mean=695.0ms, total=695.0ms, count=1, min=695.0ms, max=695.0ms
+  scene_randomize: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms
+  mj_forward_sync: mean=620.5us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=16.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 04:03:46 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.148s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 04:03:46 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.630[m] 88.221[deg]	[grasp_sample.py: 539]
+05/12 04:03:46 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 04:03:46 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.771s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 04:03:46 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.033[m] 0.166[deg]	[grasp_sample.py: 539]
+05/12 04:03:46 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 04:03:46 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:03:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 04:03:47 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 04:03:47 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 04:03:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 04:03:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 04:03:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 04:03:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 04:03:47 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 04:03:47 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 04:03:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 04:03:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.095m, effective arm-mount z=0.955m (base_body_z=0.095m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 04:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 04:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 04:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.095440m	[env.py: 870]
+05/12 04:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 04:03:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 04:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 04:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 157.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 101.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 116.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 107.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -64.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.9111722   0.1105224   0.09544008] yaw=135.3deg	[env.py: 1019]
+05/12 04:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 04:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 04:03:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=222.7ms, total=222.7ms	[env.py: 1075]
+05/12 04:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.911, 0.111, 0.095)	[env.py: 1079]
+05/12 04:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 135.3 deg	[env.py: 1082]
+05/12 04:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.874m	[env.py: 1086]
+05/12 04:03:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 04:03:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 04:03:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 04:03:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 04:03:48 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 04:03:48 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/12 04:03:48 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/12 04:03:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.098s	[base_object_manipulation_planner_policy.py: 377]
+05/12 04:03:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 04:03:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 04:03:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 04:03:49 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.899s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 04:03:49 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.472[m] 91.517[deg]	[grasp_sample.py: 539]
+05/12 04:03:49 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 04:03:49 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 04:03:49 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:03:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 04:03:49 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 04:03:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 04:03:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 04:03:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 04:03:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 04:03:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 04:03:49 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 04:03:49 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 04:03:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 04:03:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.056m, effective arm-mount z=0.916m (base_body_z=0.056m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 04:03:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 04:03:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 04:03:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.056218m	[env.py: 870]
+05/12 04:03:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 04:03:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 04:03:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 04:03:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -55.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:03:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.89719753  0.05064623  0.05621811] yaw=183.6deg	[env.py: 1019]
+05/12 04:03:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 04:03:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.75261981  0.95670931  0.05621811] yaw=-144.7deg	[env.py: 1019]
+05/12 04:03:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 04:03:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -66.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:03:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.74717665  0.7777059   0.05621811] yaw=-145.0deg	[env.py: 1019]
+05/12 04:03:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 04:03:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 04:03:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=135.6ms, total=135.6ms	[env.py: 1075]
+05/12 04:03:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.897, 0.051, 0.056)	[env.py: 1079]
+05/12 04:03:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 183.6 deg	[env.py: 1082]
+05/12 04:03:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.913m	[env.py: 1086]
+05/12 04:03:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 04:03:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 04:03:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 04:03:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 04:03:50 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 04:03:50 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/12 04:03:50 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 04:03:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s	[base_object_manipulation_planner_policy.py: 377]
+05/12 04:03:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 04:03:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 04:03:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.084s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 04:03:51 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.892s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 04:03:51 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.606[m] 99.207[deg]	[grasp_sample.py: 539]
+05/12 04:03:51 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 04:03:51 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 04:03:51 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:03:52 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 04:04:34 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 04:04:35 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:04:44 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 04:04:47 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:04:47 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:04:48 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:04:56 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 04:04:57 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 04:05:00 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:05:01 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:05:03 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/12 04:05:03 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/12 04:05:03 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 04:05:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 04:05:19 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_004	[save_utils.py: 785]
+05/12 04:05:19 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 16.04s (batch: 4.37s, save: 11.67s)	[pipeline.py: 300]
+05/12 04:05:19 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.55s:
+  episode_total: mean=194.29s, total=194.29s, count=1, min=194291.3ms, max=194291.3ms
+  sensor_polling: mean=436.4ms, total=130.91s, count=300, min=380.5ms, max=863.2ms
+  save_trajectories: mean=11.67s, total=11.67s, count=1, min=11667.0ms, max=11667.0ms
+  physics_step: mean=25.8ms, total=7.74s, count=300, min=21.6ms, max=34.7ms
+  save_batch_prep: mean=4.37s, total=4.37s, count=1, min=4370.1ms, max=4370.1ms
+  task_sampling: mean=551.6ms, total=551.6ms, count=1, min=551.6ms, max=551.6ms
+  task_specific_sample: mean=547.6ms, total=547.6ms, count=1, min=547.6ms, max=547.6ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=453.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=43.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 04:05:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 04:05:21 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 04:05:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 04:05:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 04:05:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 04:05:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 04:05:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 04:05:21 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 04:05:21 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 04:05:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 04:05:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.055m, effective arm-mount z=0.915m (base_body_z=0.055m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 04:05:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 04:05:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 04:05:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.054728m	[env.py: 870]
+05/12 04:05:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 04:05:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 04:05:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 04:05:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 69.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:05:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 65.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:05:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -74.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:05:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 170.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:05:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 53.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:05:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.69004151  0.20268148  0.05472841] yaw=174.9deg	[env.py: 1019]
+05/12 04:05:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 04:05:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 04:05:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=255.0ms, total=255.0ms	[env.py: 1075]
+05/12 04:05:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.690, 0.203, 0.055)	[env.py: 1079]
+05/12 04:05:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 174.9 deg	[env.py: 1082]
+05/12 04:05:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.050m	[env.py: 1086]
+05/12 04:05:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 04:05:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 04:05:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 04:05:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 04:05:22 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 04:05:22 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/12 04:05:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.114s	[base_object_manipulation_planner_policy.py: 377]
+05/12 04:05:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 04:05:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 04:05:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 04:05:24 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.637s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 04:05:24 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.640[m] 96.547[deg]	[grasp_sample.py: 539]
+05/12 04:05:24 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 04:05:25 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 04:05:25 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:05:25 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 04:05:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:05:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:05:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:05:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:05:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:05:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:05:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:05:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:05:55 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 04:05:55 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 04:05:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 04:05:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 04:05:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/12 04:05:56 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.724s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 04:05:56 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.033[m] 0.290[deg]	[grasp_sample.py: 539]
+05/12 04:05:57 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/12 04:05:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 04:05:59 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 04:05:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 04:05:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 04:05:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 04:05:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 04:05:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 04:05:59 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 04:05:59 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 04:05:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 04:05:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.082m, effective arm-mount z=0.942m (base_body_z=0.082m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 04:05:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 04:05:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 04:05:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.081715m	[env.py: 870]
+05/12 04:05:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 04:05:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 04:05:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 04:05:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -62.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:05:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.78744018  0.05544719  0.08171503] yaw=167.9deg	[env.py: 1019]
+05/12 04:05:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 04:05:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 85.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:05:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 76.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:05:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.97994185  0.13932721  0.08171503] yaw=166.6deg	[env.py: 1019]
+05/12 04:05:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 04:05:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 04:05:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=224.8ms, total=224.9ms	[env.py: 1075]
+05/12 04:05:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.787, 0.055, 0.082)	[env.py: 1079]
+05/12 04:05:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 167.9 deg	[env.py: 1082]
+05/12 04:05:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.009m	[env.py: 1086]
+05/12 04:05:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 04:05:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 04:05:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 04:05:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 04:05:59 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 04:05:59 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/12 04:05:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.099s	[base_object_manipulation_planner_policy.py: 377]
+05/12 04:05:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 04:05:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 04:06:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.088s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 04:06:02 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.667s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 04:06:02 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.609[m] 94.545[deg]	[grasp_sample.py: 539]
+05/12 04:06:02 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 04:06:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 04:06:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:06:03 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 04:06:15 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 04:06:20 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/12 04:06:20 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 04:06:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 04:06:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 04:06:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.093s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/12 04:06:21 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.741s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 04:06:21 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.107[m] 3.240[deg]	[grasp_sample.py: 539]
+05/12 04:06:21 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 04:06:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 04:06:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:06:25 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:06:26 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 04:06:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 04:06:38 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:06:45 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/12 04:06:45 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/12 04:06:45 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 04:06:56 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/12 04:06:56 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/12 04:06:56 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 04:07:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 04:07:01 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_004	[save_utils.py: 785]
+05/12 04:07:01 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 15.89s (batch: 4.04s, save: 11.85s)	[pipeline.py: 300]
+05/12 04:07:01 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.53s:
+  episode_total: mean=197.18s, total=197.18s, count=1, min=197179.6ms, max=197179.6ms
+  sensor_polling: mean=456.0ms, total=136.79s, count=300, min=400.5ms, max=847.0ms
+  save_trajectories: mean=11.85s, total=11.85s, count=1, min=11848.7ms, max=11848.7ms
+  physics_step: mean=26.8ms, total=8.04s, count=300, min=17.3ms, max=54.3ms
+  save_batch_prep: mean=4.04s, total=4.04s, count=1, min=4044.8ms, max=4044.8ms
+  task_sampling: mean=534.4ms, total=534.4ms, count=1, min=534.4ms, max=534.4ms
+  task_specific_sample: mean=531.6ms, total=531.6ms, count=1, min=531.6ms, max=531.6ms
+  scene_randomize: mean=1.4ms, total=1.4ms, count=1, min=1.4ms, max=1.4ms
+  mj_forward_sync: mean=461.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=13.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 04:07:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:07:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 04:07:03 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 04:07:03 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 04:07:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 04:07:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 04:07:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 04:07:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 04:07:03 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 04:07:03 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 04:07:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 04:07:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.093m, effective arm-mount z=0.953m (base_body_z=0.093m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 04:07:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 04:07:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 04:07:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.093430m	[env.py: 870]
+05/12 04:07:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 04:07:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 04:07:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 04:07:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.84291358  0.51988912  0.09342993] yaw=-200.4deg	[env.py: 1019]
+05/12 04:07:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 04:07:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.10883344  1.15293792  0.09342993] yaw=-140.5deg	[env.py: 1019]
+05/12 04:07:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 04:07:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -165.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:07:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 87.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:07:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.86078347  0.40128962  0.09342993] yaw=169.7deg	[env.py: 1019]
+05/12 04:07:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 04:07:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 04:07:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=133.8ms, total=133.8ms	[env.py: 1075]
+05/12 04:07:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.843, 0.520, 0.093)	[env.py: 1079]
+05/12 04:07:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -200.4 deg	[env.py: 1082]
+05/12 04:07:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.860m	[env.py: 1086]
+05/12 04:07:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 04:07:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 04:07:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 04:07:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 04:07:03 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 04:07:03 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/12 04:07:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.112s	[base_object_manipulation_planner_policy.py: 377]
+05/12 04:07:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 04:07:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 04:07:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.082s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 04:07:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.106s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 04:07:05 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.490[m] 101.139[deg]	[grasp_sample.py: 539]
+05/12 04:07:05 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 04:07:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 04:07:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:07:06 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 04:07:11 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 04:07:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 04:07:11 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_004	[save_utils.py: 785]
+05/12 04:07:11 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 15.56s (batch: 4.00s, save: 11.56s)	[pipeline.py: 300]
+05/12 04:07:12 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=1.38s:
+  episode_total: mean=165.99s, total=331.98s, count=2, min=128903.9ms, max=203079.7ms
+  sensor_polling: mean=450.7ms, total=240.67s, count=534, min=397.3ms, max=978.1ms
+  physics_step: mean=25.7ms, total=13.73s, count=534, min=18.0ms, max=40.7ms
+  save_trajectories: mean=11.56s, total=11.56s, count=1, min=11555.2ms, max=11555.2ms
+  save_batch_prep: mean=4.00s, total=4.00s, count=1, min=4000.5ms, max=4000.5ms
+  task_sampling: mean=689.1ms, total=1.38s, count=2, min=402.9ms, max=975.4ms
+  task_specific_sample: mean=684.9ms, total=1.37s, count=2, min=399.5ms, max=970.2ms
+  scene_randomize: mean=2.4ms, total=4.8ms, count=2, min=1.4ms, max=3.4ms
+  mj_forward_sync: mean=535.7us, total=1.1ms, count=2, min=0.5ms, max=0.6ms
+  policy_setup: mean=15.2us, 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]
+05/12 04:07:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 04:07:14 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 04:07:14 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 04:07:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 04:07:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 04:07:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 04:07:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 04:07:14 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 04:07:14 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 04:07:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 04:07:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.049m, effective arm-mount z=0.909m (base_body_z=0.049m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 04:07:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 04:07:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 04:07:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.048667m	[env.py: 870]
+05/12 04:07:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 04:07:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 04:07:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 04:07:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -66.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:07:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 72.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:07:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 67.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:07:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 118.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:07:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 117.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:07:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.74538805  0.24786934  0.04866669] yaw=156.7deg	[env.py: 1019]
+05/12 04:07:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 04:07:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.97018878  0.24711278  0.04866669] yaw=158.1deg	[env.py: 1019]
+05/12 04:07:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 04:07:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 04:07:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=206.8ms, total=206.9ms	[env.py: 1075]
+05/12 04:07:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.745, 0.248, 0.049)	[env.py: 1079]
+05/12 04:07:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 156.7 deg	[env.py: 1082]
+05/12 04:07:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.985m	[env.py: 1086]
+05/12 04:07:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 04:07:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 04:07:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 04:07:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 04:07:14 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 04:07:14 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/12 04:07:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.146s	[base_object_manipulation_planner_policy.py: 377]
+05/12 04:07:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 04:07:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 04:07:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.086s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 04:07:16 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:07:16 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.984s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 04:07:16 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.507[m] 86.573[deg]	[grasp_sample.py: 539]
+05/12 04:07:16 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 04:07:16 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 04:07:16 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:07:46 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 04:07:52 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:08:00 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 04:08:04 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:08:05 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:08:13 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 04:08:14 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/12 04:08:14 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/12 04:08:14 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 04:08:18 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:08:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 04:08:29 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_004	[save_utils.py: 785]
+05/12 04:08:29 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 14.89s (batch: 4.28s, save: 10.61s)	[pipeline.py: 300]
+05/12 04:08:30 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.57s:
+  episode_total: mean=188.70s, total=188.70s, count=1, min=188702.9ms, max=188702.9ms
+  sensor_polling: mean=435.5ms, total=130.66s, count=300, min=380.5ms, max=864.4ms
+  save_trajectories: mean=10.61s, total=10.61s, count=1, min=10610.1ms, max=10610.1ms
+  physics_step: mean=26.5ms, total=7.95s, count=300, min=17.0ms, max=38.2ms
+  save_batch_prep: mean=4.28s, total=4.28s, count=1, min=4283.4ms, max=4283.4ms
+  task_sampling: mean=571.1ms, total=571.1ms, count=1, min=571.1ms, max=571.1ms
+  task_specific_sample: mean=565.3ms, total=565.3ms, count=1, min=565.3ms, max=565.3ms
+  scene_randomize: mean=3.8ms, total=3.8ms, count=1, min=3.8ms, max=3.8ms
+  mj_forward_sync: mean=816.9us, total=0.8ms, count=1, min=0.8ms, max=0.8ms
+  policy_setup: mean=16.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 04:08:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 04:08:31 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 04:08:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 04:08:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 04:08:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 04:08:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 04:08:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 04:08:31 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 04:08:31 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 04:08:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 04:08:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.024m, effective arm-mount z=0.884m (base_body_z=0.024m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 04:08:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 04:08:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 04:08:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.023715m	[env.py: 870]
+05/12 04:08:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 04:08:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 04:08:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 04:08:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -29.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:08:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 54.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:08:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -53.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:08:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -39.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:08:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 108.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:08:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.93672244  1.19992406  0.02371541] yaw=-140.9deg	[env.py: 1019]
+05/12 04:08:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 04:08:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 04:08:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=295.1ms, total=295.1ms	[env.py: 1075]
+05/12 04:08:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.937, 1.200, 0.024)	[env.py: 1079]
+05/12 04:08:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -140.9 deg	[env.py: 1082]
+05/12 04:08:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.050m	[env.py: 1086]
+05/12 04:08:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 04:08:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 04:08:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 04:08:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 04:08:32 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 04:08:32 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/12 04:08:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s	[base_object_manipulation_planner_policy.py: 377]
+05/12 04:08:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 04:08:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 04:08:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.091s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 04:08:34 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 04:08:38 INFO: [Worker 0] Feasibility-checked 88 grasps in 5.723s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 04:08:38 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.672[m] 95.369[deg]	[grasp_sample.py: 539]
+05/12 04:08:39 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/12 04:08:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 04:08:40 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 04:08:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 04:08:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 04:08:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 04:08:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 04:08:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 04:08:40 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 04:08:40 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 04:08:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 04:08:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.041m, effective arm-mount z=0.901m (base_body_z=0.041m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 04:08:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 04:08:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 04:08:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.041365m	[env.py: 870]
+05/12 04:08:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 04:08:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 04:08:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 04:08:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.80556367  0.52889933  0.04136509] yaw=-205.7deg	[env.py: 1019]
+05/12 04:08:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 04:08:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -52.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:08:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 118.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:08:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.72170263  0.02289584  0.04136509] yaw=168.2deg	[env.py: 1019]
+05/12 04:08:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 04:08:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -71.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:08:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.79457287  0.96731019  0.04136509] yaw=-121.0deg	[env.py: 1019]
+05/12 04:08:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 04:08:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 04:08:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=675.6ms, total=675.6ms	[env.py: 1075]
+05/12 04:08:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.806, 0.529, 0.041)	[env.py: 1079]
+05/12 04:08:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -205.7 deg	[env.py: 1082]
+05/12 04:08:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.898m	[env.py: 1086]
+05/12 04:08:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 04:08:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 04:08:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 04:08:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 04:08:41 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 04:08:41 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/12 04:08:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.101s	[base_object_manipulation_planner_policy.py: 377]
+05/12 04:08:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 04:08:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 04:08:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 04:08:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.820s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 04:08:42 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.546[m] 97.243[deg]	[grasp_sample.py: 539]
+05/12 04:08:42 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 04:08:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 04:08:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:09:03 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/12 04:09:03 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/12 04:09:03 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 04:09:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 04:09:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_004	[save_utils.py: 785]
+05/12 04:09:20 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 16.67s (batch: 4.71s, save: 11.96s)	[pipeline.py: 300]
+05/12 04:09:21 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=1.04s:
+  episode_total: mean=165.99s, total=331.98s, count=2, min=130036.9ms, max=201944.7ms
+  sensor_polling: mean=464.2ms, total=245.07s, count=528, min=396.8ms, max=948.9ms
+  physics_step: mean=28.0ms, total=14.78s, count=528, min=21.6ms, max=94.0ms
+  save_trajectories: mean=11.96s, total=11.96s, count=1, min=11963.0ms, max=11963.0ms
+  save_batch_prep: mean=4.71s, total=4.71s, count=1, min=4707.5ms, max=4707.5ms
+  task_sampling: mean=521.6ms, total=1.04s, count=2, min=513.1ms, max=530.0ms
+  task_specific_sample: mean=516.3ms, total=1.03s, count=2, min=507.3ms, max=525.3ms
+  scene_randomize: mean=1.8ms, total=3.6ms, count=2, min=1.6ms, max=1.9ms
+  mj_forward_sync: mean=542.6us, total=1.1ms, count=2, min=0.5ms, max=0.6ms
+  policy_setup: mean=14.2us, 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]
+05/12 04:09:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 04:09:22 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 04:09:22 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 04:09:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 04:09:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 04:09:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 04:09:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 04:09:22 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 04:09:22 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 04:09:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 04:09:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.027m, effective arm-mount z=0.887m (base_body_z=0.027m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 04:09:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 04:09:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 04:09:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.027171m	[env.py: 870]
+05/12 04:09:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 04:09:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 04:09:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 04:09:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.93278902  0.08126496  0.02717107] yaw=131.2deg	[env.py: 1019]
+05/12 04:09:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 04:09:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.85281385  0.48474801  0.02717107] yaw=-191.5deg	[env.py: 1019]
+05/12 04:09:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 04:09:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -44.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:09:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.89565244  0.4558211   0.02717107] yaw=170.0deg	[env.py: 1019]
+05/12 04:09:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 04:09:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 04:09:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=163.0ms, total=163.1ms	[env.py: 1075]
+05/12 04:09:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.933, 0.081, 0.027)	[env.py: 1079]
+05/12 04:09:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 131.2 deg	[env.py: 1082]
+05/12 04:09:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.868m	[env.py: 1086]
+05/12 04:09:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 04:09:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 04:09:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 04:09:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 04:09:23 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 04:09:23 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/12 04:09:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.116s	[base_object_manipulation_planner_policy.py: 377]
+05/12 04:09:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 04:09:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 04:09:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.084s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 04:09:24 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.928s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 04:09:24 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.487[m] 101.416[deg]	[grasp_sample.py: 539]
+05/12 04:09:24 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 04:09:24 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 04:09:24 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:09:25 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 04:09:30 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 04:09:34 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:09:43 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 04:09:47 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:09:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:10:00 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/12 04:10:00 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/12 04:10:00 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 04:10:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:10:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:10:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:10:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:10:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:10:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:10:10 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:10:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:10:10 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 04:10:10 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 04:10:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 04:10:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 04:10:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/12 04:10:11 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.671s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 04:10:11 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.033[m] 0.212[deg]	[grasp_sample.py: 539]
+05/12 04:10:12 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/12 04:10:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 04:10:14 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 04:10:14 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 04:10:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 04:10:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 04:10:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 04:10:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 04:10:14 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 04:10:14 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 04:10:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 04:10:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.090m, effective arm-mount z=0.950m (base_body_z=0.090m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 04:10:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 04:10:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 04:10:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.089736m	[env.py: 870]
+05/12 04:10:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 04:10:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 04:10:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 04:10:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 74.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:10:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -49.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:10:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.99538575  1.2358683   0.08973574] yaw=-166.1deg	[env.py: 1019]
+05/12 04:10:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 04:10:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 60.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:10:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -68.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:10:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.96199027  0.26118707  0.08973574] yaw=161.4deg	[env.py: 1019]
+05/12 04:10:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 04:10:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 04:10:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=338.1ms, total=338.2ms	[env.py: 1075]
+05/12 04:10:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.995, 1.236, 0.090)	[env.py: 1079]
+05/12 04:10:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -166.1 deg	[env.py: 1082]
+05/12 04:10:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.033m	[env.py: 1086]
+05/12 04:10:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 04:10:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 04:10:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 04:10:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 04:10:14 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 04:10:14 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/12 04:10:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s	[base_object_manipulation_planner_policy.py: 377]
+05/12 04:10:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 04:10:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 04:10:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.089s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 04:10:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 04:10:16 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_004	[save_utils.py: 785]
+05/12 04:10:16 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 16.40s (batch: 4.31s, save: 12.09s)	[pipeline.py: 300]
+05/12 04:10:17 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.47s:
+  episode_total: mean=193.98s, total=193.98s, count=1, min=193980.5ms, max=193980.5ms
+  sensor_polling: mean=447.7ms, total=134.31s, count=300, min=397.6ms, max=801.9ms
+  save_trajectories: mean=12.09s, total=12.09s, count=1, min=12092.7ms, max=12092.7ms
+  physics_step: mean=27.5ms, total=8.25s, count=300, min=21.5ms, max=39.1ms
+  save_batch_prep: mean=4.31s, total=4.31s, count=1, min=4309.4ms, max=4309.4ms
+  task_sampling: mean=466.5ms, total=466.5ms, count=1, min=466.5ms, max=466.5ms
+  task_specific_sample: mean=462.2ms, total=462.2ms, count=1, min=462.2ms, max=462.2ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=473.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=33.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 04:10:17 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.884s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 04:10:17 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.755[m] 92.622[deg]	[grasp_sample.py: 539]
+05/12 04:10:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 04:10:18 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 04:10:18 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 04:10:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 04:10:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 04:10:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 04:10:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 04:10:18 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 04:10:18 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 04:10:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 04:10:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.024m, effective arm-mount z=0.884m (base_body_z=0.024m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 04:10:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 04:10:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 04:10:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.024361m	[env.py: 870]
+05/12 04:10:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 04:10:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 04:10:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 04:10:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -47.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:10:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.93193163  0.64374136  0.02436127] yaw=-172.6deg	[env.py: 1019]
+05/12 04:10:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 04:10:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 67.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:10:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 92.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:10:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.82940073  0.66196724  0.02436127] yaw=-138.0deg	[env.py: 1019]
+05/12 04:10:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 04:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.81919739  0.37614232  0.02436127] yaw=207.5deg	[env.py: 1019]
+05/12 04:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 04:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 04:10:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=179.8ms, total=179.9ms	[env.py: 1075]
+05/12 04:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.932, 0.644, 0.024)	[env.py: 1079]
+05/12 04:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -172.6 deg	[env.py: 1082]
+05/12 04:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.787m	[env.py: 1086]
+05/12 04:10:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 04:10:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 04:10:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 04:10:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 04:10:19 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 04:10:19 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/12 04:10:19 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 04:10:19 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/12 04:10:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s	[base_object_manipulation_planner_policy.py: 377]
+05/12 04:10:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 04:10:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 04:10:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.086s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 04:10:20 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.815s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 04:10:20 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.366[m] 91.317[deg]	[grasp_sample.py: 539]
+05/12 04:10:20 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 04:10:20 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 04:10:20 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:10:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 04:10:21 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 04:10:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 04:10:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 04:10:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 04:10:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 04:10:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 04:10:21 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 04:10:21 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 04:10:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 04:10:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.067m, effective arm-mount z=0.927m (base_body_z=0.067m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 04:10:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 04:10:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 04:10:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.067342m	[env.py: 870]
+05/12 04:10:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 04:10:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 04:10:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 04:10:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 119.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:10:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -44.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:10:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.7568291   0.07818526  0.06734239] yaw=145.1deg	[env.py: 1019]
+05/12 04:10:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 04:10:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -164.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:10:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 89.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:10:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.1807529   1.07281419  0.06734239] yaw=-129.4deg	[env.py: 1019]
+05/12 04:10:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 04:10:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 04:10:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=411.9ms, total=412.0ms	[env.py: 1075]
+05/12 04:10:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.757, 0.078, 0.067)	[env.py: 1079]
+05/12 04:10:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 145.1 deg	[env.py: 1082]
+05/12 04:10:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.028m	[env.py: 1086]
+05/12 04:10:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 04:10:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 04:10:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 04:10:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 04:10:21 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 04:10:21 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 04:10:21 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/12 04:10:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s	[base_object_manipulation_planner_policy.py: 377]
+05/12 04:10:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 04:10:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 04:10:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 04:10:23 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:10:24 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.815s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 04:10:24 INFO: [Worker 0] Feasible grasp found 70 (originally 70): w/ 0.577[m] 84.027[deg]	[grasp_sample.py: 539]
+05/12 04:10:24 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 04:10:25 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 04:10:25 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:10:25 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 04:10:57 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:11:06 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 04:11:07 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 04:11:11 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:11:17 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:11:27 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 04:11:31 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:11:35 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/12 04:11:35 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/12 04:11:35 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 04:11:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:11:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:11:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:11:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 04:11:52 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_004	[save_utils.py: 785]
+05/12 04:11:52 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 16.56s (batch: 4.27s, save: 12.29s)	[pipeline.py: 300]
+05/12 04:11:53 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=1.61s:
+  episode_total: mean=100.02s, total=200.03s, count=2, min=7877.3ms, max=192155.8ms
+  sensor_polling: mean=438.2ms, total=131.46s, count=300, min=367.7ms, max=862.6ms
+  save_trajectories: mean=12.29s, total=12.29s, count=1, min=12287.9ms, max=12287.9ms
+  physics_step: mean=27.7ms, total=8.30s, count=300, min=21.5ms, max=35.8ms
+  save_batch_prep: mean=4.27s, total=4.27s, count=1, min=4269.1ms, max=4269.1ms
+  task_sampling: mean=805.1ms, total=1.61s, count=2, min=630.2ms, max=980.0ms
+  task_specific_sample: mean=799.6ms, total=1.60s, count=2, min=623.5ms, max=975.6ms
+  scene_randomize: mean=3.3ms, total=6.7ms, count=2, min=1.9ms, max=4.8ms
+  mj_forward_sync: mean=569.6us, total=1.1ms, count=2, min=0.5ms, max=0.7ms
+  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]
+05/12 04:11:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:11:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 04:11:54 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 04:11:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 04:11:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 04:11:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 04:11:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 04:11:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 04:11:54 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 04:11:54 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 04:11:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 04:11:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.088m, effective arm-mount z=0.948m (base_body_z=0.088m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 04:11:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 04:11:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 04:11:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.087930m	[env.py: 870]
+05/12 04:11:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 04:11:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 04:11:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 04:11:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.90136125  0.78839794  0.08792966] yaw=-127.0deg	[env.py: 1019]
+05/12 04:11:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 04:11:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 125.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:11:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.73438355  0.18876732  0.08792966] yaw=166.7deg	[env.py: 1019]
+05/12 04:11:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 04:11:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.92189585  0.58498652  0.08792966] yaw=-173.1deg	[env.py: 1019]
+05/12 04:11:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 04:11:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 04:11:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=144.0ms, total=144.0ms	[env.py: 1075]
+05/12 04:11:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.901, 0.788, 0.088)	[env.py: 1079]
+05/12 04:11:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -127.0 deg	[env.py: 1082]
+05/12 04:11:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.858m	[env.py: 1086]
+05/12 04:11:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 04:11:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 04:11:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 04:11:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 04:11:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:11:55 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 04:11:55 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/12 04:11:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.117s	[base_object_manipulation_planner_policy.py: 377]
+05/12 04:11:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 04:11:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 04:11:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.082s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 04:11:56 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.141s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 04:11:56 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.531[m] 95.911[deg]	[grasp_sample.py: 539]
+05/12 04:11:56 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 04:11:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:11:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 04:11:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:11:57 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 04:11:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:12:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:12:00 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 04:12:00 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 04:12:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 04:12:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 04:12:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/12 04:12:01 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.846s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 04:12:01 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.200[deg]	[grasp_sample.py: 539]
+05/12 04:12:01 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 04:12:01 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 04:12:01 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:12:03 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 04:12:30 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/12 04:12:30 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/12 04:12:30 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 04:12:45 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:12:48 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 04:12:48 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_004	[save_utils.py: 785]
+05/12 04:12:48 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 17.16s (batch: 4.78s, save: 12.39s)	[pipeline.py: 300]
+05/12 04:12:48 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 04:12:48 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.50s:
+  episode_total: mean=206.23s, total=206.23s, count=1, min=206227.3ms, max=206227.3ms
+  sensor_polling: mean=427.4ms, total=128.23s, count=300, min=395.5ms, max=946.7ms
+  save_trajectories: mean=12.39s, total=12.39s, count=1, min=12386.0ms, max=12386.0ms
+  physics_step: mean=25.2ms, total=7.56s, count=300, min=15.4ms, max=53.9ms
+  save_batch_prep: mean=4.78s, total=4.78s, count=1, min=4777.3ms, max=4777.3ms
+  task_sampling: mean=502.1ms, total=502.1ms, count=1, min=502.1ms, max=502.1ms
+  task_specific_sample: mean=497.8ms, total=497.8ms, count=1, min=497.8ms, max=497.8ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=481.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=20.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 04:12:50 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 04:12:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 04:12:50 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 04:12:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 04:12:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 04:12:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 04:12:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 04:12:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 04:12:50 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 04:12:50 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 04:12:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 04:12:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.044m, effective arm-mount z=0.904m (base_body_z=0.044m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 04:12:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 04:12:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 04:12:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.044387m	[env.py: 870]
+05/12 04:12:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 04:12:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 04:12:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 04:12:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 65.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:12:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 86.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:12:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 171.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:12:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -179.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:12:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 75.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:12:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.98157315  0.21289786  0.04438739] yaw=199.6deg	[env.py: 1019]
+05/12 04:12:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 04:12:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 04:12:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=215.0ms, total=215.0ms	[env.py: 1075]
+05/12 04:12:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.982, 0.213, 0.044)	[env.py: 1079]
+05/12 04:12:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 199.6 deg	[env.py: 1082]
+05/12 04:12:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.769m	[env.py: 1086]
+05/12 04:12:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 04:12:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 04:12:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 04:12:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 04:12:51 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 04:12:51 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/12 04:12:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.123s	[base_object_manipulation_planner_policy.py: 377]
+05/12 04:12:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 04:12:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 04:12:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 04:12:52 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.007s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 04:12:52 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.525[m] 100.924[deg]	[grasp_sample.py: 539]
+05/12 04:12:52 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 04:12:52 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 04:12:52 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:12:53 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 04:12:54 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 04:12:58 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:13:17 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/12 04:13:17 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/12 04:13:17 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 04:13:18 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/12 04:13:18 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/12 04:13:18 INFO: [Worker 0] Preparing episode data: 296 timesteps	[save_utils.py: 278]
+05/12 04:13:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 04:13:32 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_004	[save_utils.py: 785]
+05/12 04:13:32 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 15.58s (batch: 4.52s, save: 11.06s)	[pipeline.py: 300]
+05/12 04:13:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 04:13:33 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_004	[save_utils.py: 785]
+05/12 04:13:33 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 14.95s (batch: 4.02s, save: 10.93s)	[pipeline.py: 300]
+05/12 04:13:33 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=1.98s:
+  episode_total: mean=125.31s, total=375.93s, count=3, min=4942.7ms, max=192673.7ms
+  sensor_polling: mean=445.3ms, total=266.76s, count=599, min=394.8ms, max=943.3ms
+  physics_step: mean=25.3ms, total=15.18s, count=599, min=17.1ms, max=39.2ms
+  save_trajectories: mean=11.06s, total=11.06s, count=1, min=11055.9ms, max=11055.9ms
+  save_batch_prep: mean=4.52s, total=4.52s, count=1, min=4523.9ms, max=4523.9ms
+  task_sampling: mean=661.5ms, total=1.98s, count=3, min=581.9ms, max=801.9ms
+  task_specific_sample: mean=657.4ms, total=1.97s, count=3, min=577.8ms, max=796.7ms
+  scene_randomize: mean=1.8ms, total=5.5ms, count=3, min=1.3ms, max=2.5ms
+  mj_forward_sync: mean=506.0us, total=1.5ms, count=3, min=0.5ms, max=0.6ms
+  policy_setup: mean=16.1us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 04:13:34 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.48s:
+  episode_total: mean=195.24s, total=195.24s, count=1, min=195240.1ms, max=195240.1ms
+  sensor_polling: mean=463.7ms, total=136.79s, count=295, min=397.8ms, max=822.1ms
+  save_trajectories: mean=10.93s, total=10.93s, count=1, min=10929.6ms, max=10929.6ms
+  physics_step: mean=27.6ms, total=8.13s, count=295, min=21.6ms, max=35.2ms
+  save_batch_prep: mean=4.02s, total=4.02s, count=1, min=4021.8ms, max=4021.8ms
+  task_sampling: mean=484.1ms, total=484.1ms, count=1, min=484.1ms, max=484.1ms
+  task_specific_sample: mean=479.4ms, total=479.4ms, count=1, min=479.4ms, max=479.4ms
+  scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
+  mj_forward_sync: mean=606.4us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=16.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 04:13:35 WARNING: [Worker 0] No trajectory data to save for chunk_004	[pipeline.py: 234]
+05/12 04:13:35 WARNING: [Worker 0] No trajectory data to save for chunk_004	[pipeline.py: 234]
+05/12 04:13:35 INFO: [Worker 0] Worker 0 completed house 1: 12/13 successful episodes	[pipeline.py: 1323]
+05/12 04:13:35 INFO: [Worker 0] [PROFILE] House 1 complete: 12/13 successful, 13 episodes, total_time=5631.14s
+  House averages:
+  episode_total: mean=172.64s, total=3107.51s, count=18, min=4942.7ms, max=203079.7ms
+  sensor_polling: mean=449.1ms, total=2171.21s, count=4835, min=381.5ms, max=1060.3ms
+  save_trajectories: mean=11.69s, total=140.31s, count=12, min=10459.9ms, max=12820.9ms
+  physics_step: mean=26.7ms, total=128.94s, count=4835, min=16.8ms, max=80.1ms
+  save_batch_prep: mean=4.15s, total=49.85s, count=12, min=3640.5ms, max=4970.9ms
+  task_sampling: mean=793.7ms, total=14.29s, count=18, min=402.9ms, max=3961.7ms
+  task_specific_sample: mean=601.1ms, total=10.82s, count=18, min=399.5ms, max=1054.6ms
+  scene_load: mean=3.39s, total=3.39s, count=1, min=3389.7ms, max=3389.7ms
+  scene_env_create: mean=1.94s, total=1.94s, count=1, min=1936.0ms, max=1936.0ms
+  scene_compile: mean=1.28s, total=1.28s, count=1, min=1282.6ms, max=1282.6ms
+  compile_mujoco: mean=713.5ms, total=713.5ms, count=1, min=713.5ms, max=713.5ms
+  compile_xml_load: mean=477.2ms, total=477.2ms, count=1, min=477.2ms, max=477.2ms
+  scene_init: mean=117.7ms, total=117.7ms, count=1, min=117.7ms, max=117.7ms
+  compile_aux_objects: mean=54.9ms, total=54.9ms, count=1, min=54.9ms, max=54.9ms
+  compile_aux_policy_objects: mean=54.8ms, total=54.8ms, count=1, min=54.8ms, max=54.8ms
+  scene_asset_install: mean=53.3ms, total=53.3ms, count=1, min=53.3ms, max=53.3ms
+  scene_randomize: mean=2.4ms, total=42.9ms, count=18, min=1.1ms, max=3.4ms
+  asset_install_grasps: mean=38.0ms, total=38.0ms, count=1, min=38.0ms, max=38.0ms
+  compile_robot_add: mean=25.0ms, total=25.0ms, count=1, min=25.0ms, max=25.0ms
+  asset_install_objects: mean=11.7ms, total=11.7ms, count=1, min=11.7ms, max=11.7ms
+  mj_forward_sync: mean=497.0us, total=8.9ms, count=18, min=0.4ms, max=0.6ms
+  asset_install_scene: mean=3.6ms, total=3.6ms, count=1, min=3.6ms, max=3.6ms
+  policy_setup: mean=19.7us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/12 04:13:35 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/12 04:13:35 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 13 episodes, total_time=5631.14s
+  Worker averages:
+  episode_total: mean=172.64s, total=3107.51s, count=18, min=4942.7ms, max=203079.7ms
+  sensor_polling: mean=449.1ms, total=2171.21s, count=4835, min=381.5ms, max=1060.3ms
+  save_trajectories: mean=11.69s, total=140.31s, count=12, min=10459.9ms, max=12820.9ms
+  physics_step: mean=26.7ms, total=128.94s, count=4835, min=16.8ms, max=80.1ms
+  save_batch_prep: mean=4.15s, total=49.85s, count=12, min=3640.5ms, max=4970.9ms
+  task_sampling: mean=793.7ms, total=14.29s, count=18, min=402.9ms, max=3961.7ms
+  task_specific_sample: mean=601.1ms, total=10.82s, count=18, min=399.5ms, max=1054.6ms
+  scene_load: mean=3.39s, total=3.39s, count=1, min=3389.7ms, max=3389.7ms
+  scene_env_create: mean=1.94s, total=1.94s, count=1, min=1936.0ms, max=1936.0ms
+  scene_compile: mean=1.28s, total=1.28s, count=1, min=1282.6ms, max=1282.6ms
+  compile_mujoco: mean=713.5ms, total=713.5ms, count=1, min=713.5ms, max=713.5ms
+  compile_xml_load: mean=477.2ms, total=477.2ms, count=1, min=477.2ms, max=477.2ms
+  scene_init: mean=117.7ms, total=117.7ms, count=1, min=117.7ms, max=117.7ms
+  compile_aux_objects: mean=54.9ms, total=54.9ms, count=1, min=54.9ms, max=54.9ms
+  compile_aux_policy_objects: mean=54.8ms, total=54.8ms, count=1, min=54.8ms, max=54.8ms
+  scene_asset_install: mean=53.3ms, total=53.3ms, count=1, min=53.3ms, max=53.3ms
+  scene_randomize: mean=2.4ms, total=42.9ms, count=18, min=1.1ms, max=3.4ms
+  asset_install_grasps: mean=38.0ms, total=38.0ms, count=1, min=38.0ms, max=38.0ms
+  compile_robot_add: mean=25.0ms, total=25.0ms, count=1, min=25.0ms, max=25.0ms
+  asset_install_objects: mean=11.7ms, total=11.7ms, count=1, min=11.7ms, max=11.7ms
+  mj_forward_sync: mean=497.0us, total=8.9ms, count=18, min=0.4ms, max=0.6ms
+  asset_install_scene: mean=3.6ms, total=3.6ms, count=1, min=3.6ms, max=3.6ms
+  policy_setup: mean=19.7us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/12 04:13:35 WARNING: [Worker 0] No trajectory data to save for chunk_004	[pipeline.py: 234]
+05/12 04:13:35 WARNING: [Worker 0] No trajectory data to save for chunk_004	[pipeline.py: 234]
+05/12 04:13:35 INFO: [Worker 0] Worker 0 completed house 1: 13/14 successful episodes	[pipeline.py: 1323]
+05/12 04:13:35 INFO: [Worker 0] [PROFILE] House 1 complete: 13/14 successful, 14 episodes, total_time=5482.98s
+  House averages:
+  episode_total: mean=172.62s, total=3107.15s, count=18, min=3142.6ms, max=236358.3ms
+  sensor_polling: mean=460.3ms, total=2016.07s, count=4380, min=393.0ms, max=973.6ms
+  save_trajectories: mean=11.75s, total=152.74s, count=13, min=10929.6ms, max=12875.8ms
+  physics_step: mean=27.3ms, total=119.70s, count=4380, min=14.6ms, max=79.6ms
+  save_batch_prep: mean=4.29s, total=55.81s, count=13, min=3991.4ms, max=4733.5ms
+  task_sampling: mean=747.1ms, total=13.45s, count=18, min=398.7ms, max=4038.7ms
+  task_specific_sample: mean=558.6ms, total=10.06s, count=18, min=394.5ms, max=892.8ms
+  scene_load: mean=3.32s, total=3.32s, count=1, min=3316.1ms, max=3316.1ms
+  scene_env_create: mean=1.93s, total=1.93s, count=1, min=1925.0ms, max=1925.0ms
+  scene_compile: mean=1.21s, total=1.21s, count=1, min=1209.3ms, max=1209.3ms
+  compile_mujoco: mean=746.9ms, total=746.9ms, count=1, min=746.9ms, max=746.9ms
+  compile_xml_load: mean=364.5ms, total=364.5ms, count=1, min=364.5ms, max=364.5ms
+  scene_init: mean=128.8ms, total=128.8ms, count=1, min=128.8ms, max=128.8ms
+  compile_aux_objects: mean=61.2ms, total=61.2ms, count=1, min=61.2ms, max=61.2ms
+  compile_aux_policy_objects: mean=61.2ms, total=61.2ms, count=1, min=61.2ms, max=61.2ms
+  scene_asset_install: mean=52.5ms, total=52.5ms, count=1, min=52.5ms, max=52.5ms
+  scene_randomize: mean=2.6ms, total=45.9ms, count=18, min=1.2ms, max=3.6ms
+  asset_install_grasps: mean=37.5ms, total=37.5ms, count=1, min=37.5ms, max=37.5ms
+  compile_robot_add: mean=25.5ms, total=25.5ms, count=1, min=25.5ms, max=25.5ms
+  asset_install_objects: mean=11.7ms, total=11.7ms, count=1, min=11.7ms, max=11.7ms
+  mj_forward_sync: mean=506.8us, total=9.1ms, count=18, min=0.4ms, max=0.6ms
+  asset_install_scene: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms
+  policy_setup: mean=35.0us, total=0.6ms, count=18, min=0.0ms, max=0.2ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/12 04:13:35 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/12 04:13:35 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 14 episodes, total_time=5482.98s
+  Worker averages:
+  episode_total: mean=172.62s, total=3107.15s, count=18, min=3142.6ms, max=236358.3ms
+  sensor_polling: mean=460.3ms, total=2016.07s, count=4380, min=393.0ms, max=973.6ms
+  save_trajectories: mean=11.75s, total=152.74s, count=13, min=10929.6ms, max=12875.8ms
+  physics_step: mean=27.3ms, total=119.70s, count=4380, min=14.6ms, max=79.6ms
+  save_batch_prep: mean=4.29s, total=55.81s, count=13, min=3991.4ms, max=4733.5ms
+  task_sampling: mean=747.1ms, total=13.45s, count=18, min=398.7ms, max=4038.7ms
+  task_specific_sample: mean=558.6ms, total=10.06s, count=18, min=394.5ms, max=892.8ms
+  scene_load: mean=3.32s, total=3.32s, count=1, min=3316.1ms, max=3316.1ms
+  scene_env_create: mean=1.93s, total=1.93s, count=1, min=1925.0ms, max=1925.0ms
+  scene_compile: mean=1.21s, total=1.21s, count=1, min=1209.3ms, max=1209.3ms
+  compile_mujoco: mean=746.9ms, total=746.9ms, count=1, min=746.9ms, max=746.9ms
+  compile_xml_load: mean=364.5ms, total=364.5ms, count=1, min=364.5ms, max=364.5ms
+  scene_init: mean=128.8ms, total=128.8ms, count=1, min=128.8ms, max=128.8ms
+  compile_aux_objects: mean=61.2ms, total=61.2ms, count=1, min=61.2ms, max=61.2ms
+  compile_aux_policy_objects: mean=61.2ms, total=61.2ms, count=1, min=61.2ms, max=61.2ms
+  scene_asset_install: mean=52.5ms, total=52.5ms, count=1, min=52.5ms, max=52.5ms
+  scene_randomize: mean=2.6ms, total=45.9ms, count=18, min=1.2ms, max=3.6ms
+  asset_install_grasps: mean=37.5ms, total=37.5ms, count=1, min=37.5ms, max=37.5ms
+  compile_robot_add: mean=25.5ms, total=25.5ms, count=1, min=25.5ms, max=25.5ms
+  asset_install_objects: mean=11.7ms, total=11.7ms, count=1, min=11.7ms, max=11.7ms
+  mj_forward_sync: mean=506.8us, total=9.1ms, count=18, min=0.4ms, max=0.6ms
+  asset_install_scene: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms
+  policy_setup: mean=35.0us, total=0.6ms, count=18, min=0.0ms, max=0.2ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/12 04:13:37 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/12 04:13:37 INFO: Success count: 13, Total count: 14	[pipeline.py: 1491]
+05/12 04:13:37 INFO: Success rate: 92.86%	[pipeline.py: 1492]
+05/12 04:13:38 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/12 04:13:38 INFO: Success count: 12, Total count: 13	[pipeline.py: 1491]
+05/12 04:13:38 INFO: Success rate: 92.31%	[pipeline.py: 1492]
+05/12 04:13:39 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:13:48 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 04:13:52 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:14:10 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 04:14:35 INFO: [Worker 0] Saved videos eagerly for episode 13 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/12 04:14:35 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/12 04:14:35 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 04:14:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:14:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:14:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:14:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:14:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 04:14:50 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_004	[save_utils.py: 785]
+05/12 04:14:50 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 14.79s (batch: 3.78s, save: 11.01s)	[pipeline.py: 300]
+05/12 04:14:51 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.48s:
+  episode_total: mean=176.63s, total=176.63s, count=1, min=176627.0ms, max=176627.0ms
+  sensor_polling: mean=413.0ms, total=123.89s, count=300, min=370.7ms, max=843.3ms
+  save_trajectories: mean=11.01s, total=11.01s, count=1, min=11009.0ms, max=11009.0ms
+  physics_step: mean=25.2ms, total=7.57s, count=300, min=18.1ms, max=33.7ms
+  save_batch_prep: mean=3.78s, total=3.78s, count=1, min=3777.6ms, max=3777.6ms
+  task_sampling: mean=479.1ms, total=479.1ms, count=1, min=479.1ms, max=479.1ms
+  task_specific_sample: mean=474.9ms, total=474.9ms, count=1, min=474.9ms, max=474.9ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=464.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=18.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 04:14:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:14:52 WARNING: [Worker 0] No trajectory data to save for chunk_004	[pipeline.py: 234]
+05/12 04:14:52 WARNING: [Worker 0] No trajectory data to save for chunk_004	[pipeline.py: 234]
+05/12 04:14:52 INFO: [Worker 0] Worker 0 completed house 1: 14/15 successful episodes	[pipeline.py: 1323]
+05/12 04:14:52 INFO: [Worker 0] [PROFILE] House 1 complete: 14/15 successful, 15 episodes, total_time=5735.83s
+  House averages:
+  episode_total: mean=176.69s, total=3180.39s, count=18, min=7877.3ms, max=220400.4ms
+  sensor_polling: mean=432.9ms, total=2168.28s, count=5009, min=365.6ms, max=926.1ms
+  save_trajectories: mean=11.68s, total=163.55s, count=14, min=10610.1ms, max=12892.6ms
+  physics_step: mean=26.8ms, total=134.38s, count=5009, min=15.5ms, max=147.9ms
+  save_batch_prep: mean=4.27s, total=59.81s, count=14, min=3492.5ms, max=4875.4ms
+  task_sampling: mean=710.9ms, total=12.80s, count=18, min=381.8ms, max=3318.4ms
+  task_specific_sample: mean=547.1ms, total=9.85s, count=18, min=377.8ms, max=975.6ms
+  scene_load: mean=2.87s, total=2.87s, count=1, min=2868.6ms, max=2868.6ms
+  scene_env_create: mean=1.80s, total=1.80s, count=1, min=1804.0ms, max=1804.0ms
+  scene_compile: mean=895.4ms, total=895.4ms, count=1, min=895.4ms, max=895.4ms
+  compile_mujoco: mean=633.3ms, total=633.3ms, count=1, min=633.3ms, max=633.3ms
+  compile_xml_load: mean=185.9ms, total=185.9ms, count=1, min=185.9ms, max=185.9ms
+  scene_init: mean=115.9ms, total=115.9ms, count=1, min=115.9ms, max=115.9ms
+  compile_aux_objects: mean=54.1ms, total=54.1ms, count=1, min=54.1ms, max=54.1ms
+  compile_aux_policy_objects: mean=54.1ms, total=54.1ms, count=1, min=54.1ms, max=54.1ms
+  scene_asset_install: mean=53.0ms, total=53.0ms, count=1, min=53.0ms, max=53.0ms
+  scene_randomize: mean=2.6ms, total=47.4ms, count=18, min=1.2ms, max=4.8ms
+  asset_install_grasps: mean=38.3ms, total=38.3ms, count=1, min=38.3ms, max=38.3ms
+  asset_install_objects: mean=11.4ms, total=11.4ms, count=1, min=11.4ms, max=11.4ms
+  mj_forward_sync: mean=536.7us, total=9.7ms, count=18, min=0.5ms, max=0.8ms
+  compile_robot_add: mean=8.3ms, total=8.3ms, count=1, min=8.3ms, max=8.3ms
+  asset_install_scene: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
+  policy_setup: mean=22.2us, total=0.4ms, count=18, min=0.0ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/12 04:14:52 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/12 04:14:52 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 15 episodes, total_time=5735.83s
+  Worker averages:
+  episode_total: mean=176.69s, total=3180.39s, count=18, min=7877.3ms, max=220400.4ms
+  sensor_polling: mean=432.9ms, total=2168.28s, count=5009, min=365.6ms, max=926.1ms
+  save_trajectories: mean=11.68s, total=163.55s, count=14, min=10610.1ms, max=12892.6ms
+  physics_step: mean=26.8ms, total=134.38s, count=5009, min=15.5ms, max=147.9ms
+  save_batch_prep: mean=4.27s, total=59.81s, count=14, min=3492.5ms, max=4875.4ms
+  task_sampling: mean=710.9ms, total=12.80s, count=18, min=381.8ms, max=3318.4ms
+  task_specific_sample: mean=547.1ms, total=9.85s, count=18, min=377.8ms, max=975.6ms
+  scene_load: mean=2.87s, total=2.87s, count=1, min=2868.6ms, max=2868.6ms
+  scene_env_create: mean=1.80s, total=1.80s, count=1, min=1804.0ms, max=1804.0ms
+  scene_compile: mean=895.4ms, total=895.4ms, count=1, min=895.4ms, max=895.4ms
+  compile_mujoco: mean=633.3ms, total=633.3ms, count=1, min=633.3ms, max=633.3ms
+  compile_xml_load: mean=185.9ms, total=185.9ms, count=1, min=185.9ms, max=185.9ms
+  scene_init: mean=115.9ms, total=115.9ms, count=1, min=115.9ms, max=115.9ms
+  compile_aux_objects: mean=54.1ms, total=54.1ms, count=1, min=54.1ms, max=54.1ms
+  compile_aux_policy_objects: mean=54.1ms, total=54.1ms, count=1, min=54.1ms, max=54.1ms
+  scene_asset_install: mean=53.0ms, total=53.0ms, count=1, min=53.0ms, max=53.0ms
+  scene_randomize: mean=2.6ms, total=47.4ms, count=18, min=1.2ms, max=4.8ms
+  asset_install_grasps: mean=38.3ms, total=38.3ms, count=1, min=38.3ms, max=38.3ms
+  asset_install_objects: mean=11.4ms, total=11.4ms, count=1, min=11.4ms, max=11.4ms
+  mj_forward_sync: mean=536.7us, total=9.7ms, count=18, min=0.5ms, max=0.8ms
+  compile_robot_add: mean=8.3ms, total=8.3ms, count=1, min=8.3ms, max=8.3ms
+  asset_install_scene: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
+  policy_setup: mean=22.2us, total=0.4ms, count=18, min=0.0ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/12 04:14:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:14:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:14:54 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/12 04:14:54 INFO: Success count: 14, Total count: 15	[pipeline.py: 1491]
+05/12 04:14:54 INFO: Success rate: 93.33%	[pipeline.py: 1492]
+05/12 04:14:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:14:56 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 04:14:56 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 04:14:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 04:14:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 04:14:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/12 04:14:57 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.733s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 04:14:57 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.105[m] 1.182[deg]	[grasp_sample.py: 539]
+05/12 04:14:57 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 04:14:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 04:14:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:15:07 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:15:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 04:15:20 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:15:29 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 04:15:55 INFO: [Worker 0] Saved videos eagerly for episode 13 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/12 04:15:55 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/12 04:15:55 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 04:16:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 04:16:11 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_004	[save_utils.py: 785]
+05/12 04:16:11 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 15.47s (batch: 4.36s, save: 11.11s)	[pipeline.py: 300]
+05/12 04:16:12 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.57s:
+  episode_total: mean=201.71s, total=201.71s, count=1, min=201709.6ms, max=201709.6ms
+  sensor_polling: mean=421.9ms, total=126.58s, count=300, min=393.6ms, max=857.8ms
+  save_trajectories: mean=11.11s, total=11.11s, count=1, min=11108.2ms, max=11108.2ms
+  physics_step: mean=23.3ms, total=6.99s, count=300, min=17.8ms, max=31.7ms
+  save_batch_prep: mean=4.36s, total=4.36s, count=1, min=4359.1ms, max=4359.1ms
+  task_sampling: mean=573.2ms, total=573.2ms, count=1, min=573.2ms, max=573.2ms
+  task_specific_sample: mean=568.8ms, total=568.8ms, count=1, min=568.8ms, max=568.8ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=471.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=33.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 04:16:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 04:16:13 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 04:16:13 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 04:16:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 04:16:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 04:16:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 04:16:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 04:16:13 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 04:16:13 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 04:16:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 04:16:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.055m, effective arm-mount z=0.915m (base_body_z=0.055m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 04:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 04:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 04:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.054779m	[env.py: 870]
+05/12 04:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 04:16:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 04:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 04:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.97438763  0.95747259  0.05477882] yaw=-116.3deg	[env.py: 1019]
+05/12 04:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 04:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 107.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -43.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -53.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -44.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.77671185  0.00566487  0.05477882] yaw=164.0deg	[env.py: 1019]
+05/12 04:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 04:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.02850324  1.01165953  0.05477882] yaw=-142.1deg	[env.py: 1019]
+05/12 04:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 04:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 04:16:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=263.2ms, total=263.3ms	[env.py: 1075]
+05/12 04:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.974, 0.957, 0.055)	[env.py: 1079]
+05/12 04:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -116.3 deg	[env.py: 1082]
+05/12 04:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.869m	[env.py: 1086]
+05/12 04:16:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 04:16:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 04:16:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 04:16:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 04:16:14 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 04:16:14 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/12 04:16:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s	[base_object_manipulation_planner_policy.py: 377]
+05/12 04:16:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 04:16:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 04:16:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 04:16:15 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.488s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 04:16:15 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.479[m] 81.452[deg]	[grasp_sample.py: 539]
+05/12 04:16:15 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 04:16:16 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 04:16:16 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:16:56 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:17:03 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 04:17:07 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:18:25 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 04:18:52 INFO: [Worker 0] Saved videos eagerly for episode 14 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/12 04:18:52 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/12 04:18:52 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 04:19:07 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 04:19:07 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_004	[save_utils.py: 785]
+05/12 04:19:07 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 14.72s (batch: 4.10s, save: 10.62s)	[pipeline.py: 300]
+05/12 04:19:08 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.57s:
+  episode_total: mean=174.76s, total=174.76s, count=1, min=174758.5ms, max=174758.5ms
+  sensor_polling: mean=398.5ms, total=119.54s, count=300, min=378.8ms, max=825.0ms
+  save_trajectories: mean=10.62s, total=10.62s, count=1, min=10617.9ms, max=10617.9ms
+  physics_step: mean=23.4ms, total=7.01s, count=300, min=16.7ms, max=26.0ms
+  save_batch_prep: mean=4.10s, total=4.10s, count=1, min=4100.8ms, max=4100.8ms
+  task_sampling: mean=572.8ms, total=572.8ms, count=1, min=572.8ms, max=572.8ms
+  task_specific_sample: mean=568.4ms, total=568.4ms, count=1, min=568.4ms, max=568.4ms
+  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
+  mj_forward_sync: mean=477.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=18.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 04:19:09 WARNING: [Worker 0] No trajectory data to save for chunk_004	[pipeline.py: 234]
+05/12 04:19:09 WARNING: [Worker 0] No trajectory data to save for chunk_004	[pipeline.py: 234]
+05/12 04:19:09 INFO: [Worker 0] Worker 0 completed house 1: 15/16 successful episodes	[pipeline.py: 1323]
+05/12 04:19:09 INFO: [Worker 0] [PROFILE] House 1 complete: 15/16 successful, 16 episodes, total_time=6168.37s
+  House averages:
+  episode_total: mean=190.96s, total=3437.27s, count=18, min=108190.8ms, max=225914.1ms
+  sensor_polling: mean=445.1ms, total=2318.78s, count=5210, min=378.8ms, max=948.9ms
+  save_trajectories: mean=11.84s, total=177.66s, count=15, min=10617.9ms, max=13693.2ms
+  physics_step: mean=26.5ms, total=138.31s, count=5210, min=15.2ms, max=105.7ms
+  save_batch_prep: mean=4.44s, total=66.58s, count=15, min=4100.8ms, max=4787.2ms
+  task_sampling: mean=716.6ms, total=12.90s, count=18, min=441.5ms, max=3476.6ms
+  task_specific_sample: mean=547.0ms, total=9.85s, count=18, min=437.4ms, max=766.3ms
+  scene_load: mean=2.97s, total=2.97s, count=1, min=2973.9ms, max=2973.9ms
+  scene_env_create: mean=1.78s, total=1.78s, count=1, min=1777.6ms, max=1777.6ms
+  scene_compile: mean=900.4ms, total=900.4ms, count=1, min=900.4ms, max=900.4ms
+  compile_mujoco: mean=602.4ms, total=602.4ms, count=1, min=602.4ms, max=602.4ms
+  scene_init: mean=244.0ms, total=244.0ms, count=1, min=244.0ms, max=244.0ms
+  compile_xml_load: mean=198.6ms, total=198.6ms, count=1, min=198.6ms, max=198.6ms
+  compile_aux_objects: mean=75.2ms, total=75.2ms, count=1, min=75.2ms, max=75.2ms
+  compile_aux_policy_objects: mean=75.2ms, total=75.2ms, count=1, min=75.2ms, max=75.2ms
+  scene_asset_install: mean=51.5ms, total=51.5ms, count=1, min=51.5ms, max=51.5ms
+  scene_randomize: mean=2.7ms, total=47.8ms, count=18, min=1.3ms, max=3.6ms
+  asset_install_grasps: mean=36.9ms, total=36.9ms, count=1, min=36.9ms, max=36.9ms
+  compile_robot_add: mean=13.5ms, total=13.5ms, count=1, min=13.5ms, max=13.5ms
+  asset_install_objects: mean=11.5ms, total=11.5ms, count=1, min=11.5ms, max=11.5ms
+  mj_forward_sync: mean=511.4us, total=9.2ms, count=18, min=0.5ms, max=0.6ms
+  asset_install_scene: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
+  policy_setup: mean=23.7us, total=0.4ms, count=18, min=0.0ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/12 04:19:09 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/12 04:19:09 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 16 episodes, total_time=6168.37s
+  Worker averages:
+  episode_total: mean=190.96s, total=3437.27s, count=18, min=108190.8ms, max=225914.1ms
+  sensor_polling: mean=445.1ms, total=2318.78s, count=5210, min=378.8ms, max=948.9ms
+  save_trajectories: mean=11.84s, total=177.66s, count=15, min=10617.9ms, max=13693.2ms
+  physics_step: mean=26.5ms, total=138.31s, count=5210, min=15.2ms, max=105.7ms
+  save_batch_prep: mean=4.44s, total=66.58s, count=15, min=4100.8ms, max=4787.2ms
+  task_sampling: mean=716.6ms, total=12.90s, count=18, min=441.5ms, max=3476.6ms
+  task_specific_sample: mean=547.0ms, total=9.85s, count=18, min=437.4ms, max=766.3ms
+  scene_load: mean=2.97s, total=2.97s, count=1, min=2973.9ms, max=2973.9ms
+  scene_env_create: mean=1.78s, total=1.78s, count=1, min=1777.6ms, max=1777.6ms
+  scene_compile: mean=900.4ms, total=900.4ms, count=1, min=900.4ms, max=900.4ms
+  compile_mujoco: mean=602.4ms, total=602.4ms, count=1, min=602.4ms, max=602.4ms
+  scene_init: mean=244.0ms, total=244.0ms, count=1, min=244.0ms, max=244.0ms
+  compile_xml_load: mean=198.6ms, total=198.6ms, count=1, min=198.6ms, max=198.6ms
+  compile_aux_objects: mean=75.2ms, total=75.2ms, count=1, min=75.2ms, max=75.2ms
+  compile_aux_policy_objects: mean=75.2ms, total=75.2ms, count=1, min=75.2ms, max=75.2ms
+  scene_asset_install: mean=51.5ms, total=51.5ms, count=1, min=51.5ms, max=51.5ms
+  scene_randomize: mean=2.7ms, total=47.8ms, count=18, min=1.3ms, max=3.6ms
+  asset_install_grasps: mean=36.9ms, total=36.9ms, count=1, min=36.9ms, max=36.9ms
+  compile_robot_add: mean=13.5ms, total=13.5ms, count=1, min=13.5ms, max=13.5ms
+  asset_install_objects: mean=11.5ms, total=11.5ms, count=1, min=11.5ms, max=11.5ms
+  mj_forward_sync: mean=511.4us, total=9.2ms, count=18, min=0.5ms, max=0.6ms
+  asset_install_scene: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
+  policy_setup: mean=23.7us, total=0.4ms, count=18, min=0.0ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/12 04:19:12 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/12 04:19:12 INFO: Success count: 15, Total count: 16	[pipeline.py: 1491]
+05/12 04:19:12 INFO: Success rate: 93.75%	[pipeline.py: 1492]
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diff --git a/fridge_m_0.7_pd/chunk_005/running_log.log b/fridge_m_0.7_pd/chunk_005/running_log.log
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--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_005/running_log.log
@@ -0,0 +1,2888 @@
+05/12 04:20:37 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/12 04:20:37 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/12 04:20:37 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/12 04:20:37 INFO: {'batch_num': 1,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_005'),
+ '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 0x74c45b24d550>,
+ 'robot_config': {'K_damping': [793.0831592413665,
+                                241.62769618042807,
+                                300.12442783719814,
+                                440.9812092338339,
+                                500.000000000004,
+                                311.89516163317654,
+                                500.000000000004],
+                  'K_stiffness': [5132.972657172051,
+                                  1060.4599870990814,
+                                  1814.2516466742627,
+                                  2282.7973699783515,
+                                  2963.6502662461776,
+                                  1843.22950428842,
+                                  2505.657053829795],
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_m',
+ 'seed': 50501,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.75, 1.1),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.7,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/12 04:20:37 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/12 04:20:37 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/12 04:20:37 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/12 04:20:37 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/12 04:20:39 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/12 04:20:39 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/12 04:20:39 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/12 04:20:39 INFO: {'batch_num': 2,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_005'),
+ '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 0x7ea09eba0cd0>,
+ 'robot_config': {'K_damping': [793.0831592413665,
+                                241.62769618042807,
+                                300.12442783719814,
+                                440.9812092338339,
+                                500.000000000004,
+                                311.89516163317654,
+                                500.000000000004],
+                  'K_stiffness': [5132.972657172051,
+                                  1060.4599870990814,
+                                  1814.2516466742627,
+                                  2282.7973699783515,
+                                  2963.6502662461776,
+                                  1843.22950428842,
+                                  2505.657053829795],
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_m',
+ 'seed': 50502,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.75, 1.1),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.7,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/12 04:20:39 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/12 04:20:39 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/12 04:20:39 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/12 04:20:39 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/12 04:20:40 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/12 04:20:40 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/12 04:20:40 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/12 04:20:40 INFO: {'batch_num': 3,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_005'),
+ '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 0x7c9411f3ec10>,
+ 'robot_config': {'K_damping': [793.0831592413665,
+                                241.62769618042807,
+                                300.12442783719814,
+                                440.9812092338339,
+                                500.000000000004,
+                                311.89516163317654,
+                                500.000000000004],
+                  'K_stiffness': [5132.972657172051,
+                                  1060.4599870990814,
+                                  1814.2516466742627,
+                                  2282.7973699783515,
+                                  2963.6502662461776,
+                                  1843.22950428842,
+                                  2505.657053829795],
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_m',
+ 'seed': 50503,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.75, 1.1),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.7,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/12 04:20:40 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/12 04:20:40 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/12 04:20:40 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/12 04:20:40 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/12 04:20:40 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/12 04:20:40 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/12 04:20:40 INFO: {'batch_num': 4,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_005'),
+ '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 0x77527c65db10>,
+ 'robot_config': {'K_damping': [793.0831592413665,
+                                241.62769618042807,
+                                300.12442783719814,
+                                440.9812092338339,
+                                500.000000000004,
+                                311.89516163317654,
+                                500.000000000004],
+                  'K_stiffness': [5132.972657172051,
+                                  1060.4599870990814,
+                                  1814.2516466742627,
+                                  2282.7973699783515,
+                                  2963.6502662461776,
+                                  1843.22950428842,
+                                  2505.657053829795],
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_m',
+ 'seed': 50504,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.75, 1.1),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.7,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/12 04:20:40 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/12 04:20:40 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/12 04:20:40 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/12 04:20:40 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/12 04:20:40 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/12 04:20:40 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/12 04:20:40 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/12 04:20:40 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/12 04:20:40 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/12 04:20:40 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 04:20:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 04:20:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 04:20:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 04:20:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 04:20:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 04:20:40 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 04:20:40 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 04:20:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 04:20:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.051m, effective arm-mount z=0.911m (base_body_z=0.051m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 04:20:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 04:20:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 04:20:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.051148m	[env.py: 870]
+05/12 04:20:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 04:20:40 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/12 04:20:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 04:20:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -53.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:20:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 56.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:20:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 66.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:20:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -169.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:20:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.83179699  0.94144309  0.05114834] yaw=-150.4deg	[env.py: 1019]
+05/12 04:20:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 04:20:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.64299603  0.3983081   0.05114834] yaw=140.5deg	[env.py: 1019]
+05/12 04:20:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 04:20:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 04:20:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=23.2ms, retries=228.0ms, total=251.2ms	[env.py: 1075]
+05/12 04:20:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.832, 0.941, 0.051)	[env.py: 1079]
+05/12 04:20:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -150.4 deg	[env.py: 1082]
+05/12 04:20:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.984m	[env.py: 1086]
+05/12 04:20:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 04:20:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 04:20:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 04:20:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 04:20:41 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 04:20:41 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/12 04:20:42 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/12 04:20:42 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/12 04:20:42 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/12 04:20:42 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/12 04:20:42 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 04:20:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 04:20:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 04:20:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 04:20:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 04:20:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 04:20:42 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 04:20:42 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 04:20:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 04:20:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.014m, effective arm-mount z=0.874m (base_body_z=0.014m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 04:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 04:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 04:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.013752m	[env.py: 870]
+05/12 04:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 04:20:42 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/12 04:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 04:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.6983267   0.48630633  0.01375204] yaw=-209.5deg	[env.py: 1019]
+05/12 04:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 04:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.97025718  1.20462177  0.01375204] yaw=-138.6deg	[env.py: 1019]
+05/12 04:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 04:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -31.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 116.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 97.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.87265603  0.96897035  0.01375204] yaw=-144.1deg	[env.py: 1019]
+05/12 04:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 04:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 04:20:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=22.1ms, retries=167.4ms, total=189.5ms	[env.py: 1075]
+05/12 04:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.698, 0.486, 0.014)	[env.py: 1079]
+05/12 04:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -209.5 deg	[env.py: 1082]
+05/12 04:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.004m	[env.py: 1086]
+05/12 04:20:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 04:20:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 04:20:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 04:20:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 04:20:43 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 04:20:43 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/12 04:20:43 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/12 04:20:43 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/12 04:20:43 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/12 04:20:43 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/12 04:20:43 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 04:20:43 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 04:20:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 04:20:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 04:20:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 04:20:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 04:20:43 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 04:20:43 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 04:20:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 04:20:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.027m, effective arm-mount z=0.887m (base_body_z=0.027m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 04:20:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 04:20:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 04:20:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.027380m	[env.py: 870]
+05/12 04:20:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 04:20:43 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/12 04:20:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 04:20:43 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/12 04:20:43 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/12 04:20:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 98.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:20:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 92.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:20:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -73.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:20:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.94050704  0.40029593  0.02738009] yaw=137.0deg	[env.py: 1019]
+05/12 04:20:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 04:20:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 122.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:20:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.6369737   0.54418437  0.02738009] yaw=-148.4deg	[env.py: 1019]
+05/12 04:20:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 04:20:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.99648656  1.17169535  0.02738009] yaw=-119.4deg	[env.py: 1019]
+05/12 04:20:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 04:20:43 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/12 04:20:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 04:20:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=21.5ms, retries=203.1ms, total=224.6ms	[env.py: 1075]
+05/12 04:20:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.941, 0.400, 0.027)	[env.py: 1079]
+05/12 04:20:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 137.0 deg	[env.py: 1082]
+05/12 04:20:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.766m	[env.py: 1086]
+05/12 04:20:43 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/12 04:20:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 04:20:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 04:20:43 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 04:20:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 04:20:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 04:20:43 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 04:20:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 04:20:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 04:20:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 04:20:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 04:20:43 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 04:20:43 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 04:20:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 04:20:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.074m, effective arm-mount z=0.934m (base_body_z=0.074m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 04:20:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 04:20:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 04:20:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.074149m	[env.py: 870]
+05/12 04:20:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 04:20:43 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/12 04:20:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 04:20:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 179.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:20:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.02463187  1.02132296  0.07414915] yaw=-143.6deg	[env.py: 1019]
+05/12 04:20:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 04:20:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 59.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:20:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 117.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:20:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 177.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:20:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.93968245  0.95249806  0.07414915] yaw=-167.2deg	[env.py: 1019]
+05/12 04:20:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 04:20:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 04:20:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=27.2ms, retries=210.3ms, total=237.5ms	[env.py: 1075]
+05/12 04:20:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.025, 1.021, 0.074)	[env.py: 1079]
+05/12 04:20:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -143.6 deg	[env.py: 1082]
+05/12 04:20:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.866m	[env.py: 1086]
+05/12 04:20:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 04:20:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 04:20:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 04:20:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 04:20:43 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 04:20:43 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/12 04:20:44 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 04:20:44 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/12 04:21:15 INFO: [Worker 0] Warmed up parallel IK solver in 33.822s	[base_object_manipulation_planner_policy.py: 377]
+05/12 04:21:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 04:21:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 04:21:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 04:21:17 INFO: [Worker 0] Warmed up parallel IK solver in 33.916s	[base_object_manipulation_planner_policy.py: 377]
+05/12 04:21:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 04:21:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 04:21:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 04:21:18 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.693s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 04:21:18 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.596[m] 99.276[deg]	[grasp_sample.py: 539]
+05/12 04:21:18 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 04:21:18 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.741s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 04:21:18 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.464[m] 96.699[deg]	[grasp_sample.py: 539]
+05/12 04:21:18 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 04:21:18 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 04:21:18 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:21:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 04:21:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:21:19 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 04:21:19 INFO: [Worker 0] Warmed up parallel IK solver in 36.405s	[base_object_manipulation_planner_policy.py: 377]
+05/12 04:21:19 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]
+05/12 04:21:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 04:21:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 04:21:19 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 04:21:20 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.018s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 04:21:20 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.607[m] 85.680[deg]	[grasp_sample.py: 539]
+05/12 04:21:20 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 04:21:20 INFO: [Worker 0] Warmed up parallel IK solver in 36.511s	[base_object_manipulation_planner_policy.py: 377]
+05/12 04:21:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 04:21:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 04:21:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 04:21:21 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 04:21:21 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:21:21 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.895s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 04:21:21 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.403[m] 82.457[deg]	[grasp_sample.py: 539]
+05/12 04:21:21 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 04:21:21 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 04:21:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 04:21:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:21:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:21:58 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:22:02 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 04:22:06 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:22:07 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 04:22:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:22:12 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:22:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:22:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:22:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:22:16 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:22:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:22:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:22:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:22:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:22:22 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 04:22:22 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 04:22:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 04:22:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 04:22:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 04:22:26 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 04:22:29 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:22:41 INFO: [Worker 0] Feasibility-checked 88 grasps in 18.863s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 04:22:41 INFO: [Worker 0] Feasible grasp found 61 (originally 61): w/ 0.300[m] 15.084[deg]	[grasp_sample.py: 539]
+05/12 04:22:41 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 04:22:41 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 04:22:41 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:22:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:22:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:22:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:22:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:22:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:22:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:23:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:23:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:23:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:23:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:23:02 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 04:23:02 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 04:23:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 04:23:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 04:23:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 04:23:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:23:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:23:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:23:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:23:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:23:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:23:13 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 04:23:13 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 04:23:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 04:23:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 04:23:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/12 04:23:14 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.659s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 04:23:14 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.033[m] 0.172[deg]	[grasp_sample.py: 539]
+05/12 04:23:15 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/12 04:23:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 04:23:17 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 04:23:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 04:23:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 04:23:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 04:23:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 04:23:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 04:23:17 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 04:23:17 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 04:23:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 04:23:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.073m, effective arm-mount z=0.933m (base_body_z=0.073m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 04:23:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 04:23:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 04:23:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.073254m	[env.py: 870]
+05/12 04:23:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 04:23:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 04:23:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 04:23:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.17517726  1.08307113  0.0732544 ] yaw=-164.1deg	[env.py: 1019]
+05/12 04:23:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 04:23:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -43.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:23:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 90.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:23:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 65.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:23:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -63.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:23:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.94511068  0.65825311  0.0732544 ] yaw=-187.7deg	[env.py: 1019]
+05/12 04:23:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 04:23:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.940784    0.91089821  0.0732544 ] yaw=-155.3deg	[env.py: 1019]
+05/12 04:23:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 04:23:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 04:23:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=414.5ms, total=414.5ms	[env.py: 1075]
+05/12 04:23:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.175, 1.083, 0.073)	[env.py: 1079]
+05/12 04:23:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -164.1 deg	[env.py: 1082]
+05/12 04:23:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.799m	[env.py: 1086]
+05/12 04:23:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 04:23:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 04:23:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 04:23:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 04:23:17 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 04:23:17 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/12 04:23:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s	[base_object_manipulation_planner_policy.py: 377]
+05/12 04:23:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 04:23:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 04:23:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 04:23:18 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.862s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 04:23:18 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.536[m] 86.177[deg]	[grasp_sample.py: 539]
+05/12 04:23:18 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 04:23:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 04:23:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:23:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:23:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:23:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:23:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:23:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:23:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:23:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:23:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:23:40 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 04:23:40 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 04:23:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 04:23:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 04:23:40 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 04:23:40 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/12 04:23:42 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.515s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 04:23:42 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.107[m] 4.564[deg]	[grasp_sample.py: 539]
+05/12 04:23:44 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/12 04:23:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 04:23:45 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 04:23:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 04:23:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 04:23:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 04:23:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 04:23:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 04:23:45 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 04:23:45 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 04:23:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 04:23:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.061m, effective arm-mount z=0.921m (base_body_z=0.061m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 04:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 04:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 04:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.060707m	[env.py: 870]
+05/12 04:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 04:23:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 04:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 04:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 75.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 165.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 153.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:23:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -178.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:23:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 109.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:23:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.73556968  0.23481319  0.0607071 ] yaw=203.7deg	[env.py: 1019]
+05/12 04:23:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 04:23:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.67457283  0.74609969  0.0607071 ] yaw=-139.6deg	[env.py: 1019]
+05/12 04:23:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 04:23:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 04:23:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=791.8ms, total=791.8ms	[env.py: 1075]
+05/12 04:23:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.736, 0.235, 0.061)	[env.py: 1079]
+05/12 04:23:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 203.7 deg	[env.py: 1082]
+05/12 04:23:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.998m	[env.py: 1086]
+05/12 04:23:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 04:23:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 04:23:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 04:23:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 04:23:46 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 04:23:46 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/12 04:23:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.096s	[base_object_manipulation_planner_policy.py: 377]
+05/12 04:23:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 04:23:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 04:23:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 04:23:48 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.145s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 04:23:48 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.679[m] 89.134[deg]	[grasp_sample.py: 539]
+05/12 04:23:48 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 04:23:48 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 04:23:48 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:23:48 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 04:23:58 INFO: [Worker 0] Feasibility-checked 88 grasps in 55.130s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 04:23:58 INFO: [Worker 0] Feasible grasp found 121 (originally 6): w/ 0.237[m] 48.595[deg]	[grasp_sample.py: 539]
+05/12 04:23:59 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/12 04:24:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 04:24:01 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 04:24:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 04:24:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 04:24:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 04:24:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 04:24:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 04:24:01 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 04:24:01 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 04:24:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 04:24:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.056m, effective arm-mount z=0.916m (base_body_z=0.056m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 04:24:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 04:24:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 04:24:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.056014m	[env.py: 870]
+05/12 04:24:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 04:24:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 04:24:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 04:24:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.84101666  0.12261202  0.05601403] yaw=155.9deg	[env.py: 1019]
+05/12 04:24:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 04:24:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -46.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:24:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.64777608  0.78204871  0.05601403] yaw=-128.7deg	[env.py: 1019]
+05/12 04:24:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 04:24:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.88696253  0.73857481  0.05601403] yaw=-149.0deg	[env.py: 1019]
+05/12 04:24:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 04:24:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 04:24:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=176.0ms, total=176.0ms	[env.py: 1075]
+05/12 04:24:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.841, 0.123, 0.056)	[env.py: 1079]
+05/12 04:24:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 155.9 deg	[env.py: 1082]
+05/12 04:24:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.933m	[env.py: 1086]
+05/12 04:24:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 04:24:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 04:24:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 04:24:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 04:24:01 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 04:24:01 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/12 04:24:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.092s	[base_object_manipulation_planner_policy.py: 377]
+05/12 04:24:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 04:24:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 04:24:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.087s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 04:24:02 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.984s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 04:24:02 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.523[m] 97.569[deg]	[grasp_sample.py: 539]
+05/12 04:24:02 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 04:24:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 04:24:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:24:03 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 04:24:06 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/12 04:24:06 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/12 04:24:06 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 04:24:07 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:24:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 04:24:20 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:24:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 04:24:22 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_005	[save_utils.py: 785]
+05/12 04:24:22 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 16.53s (batch: 4.49s, save: 12.04s)	[pipeline.py: 300]
+05/12 04:24:23 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=4.42s:
+  episode_total: mean=226.60s, total=226.60s, count=1, min=226599.5ms, max=226599.5ms
+  sensor_polling: mean=438.1ms, total=131.44s, count=300, min=391.3ms, max=713.6ms
+  save_trajectories: mean=12.04s, total=12.04s, count=1, min=12043.0ms, max=12043.0ms
+  physics_step: mean=25.4ms, total=7.62s, count=300, min=17.8ms, max=40.8ms
+  save_batch_prep: mean=4.49s, total=4.49s, count=1, min=4486.4ms, max=4486.4ms
+  task_sampling: mean=4.42s, total=4.42s, count=1, min=4423.2ms, max=4423.2ms
+  scene_load: mean=3.82s, total=3.82s, count=1, min=3821.3ms, max=3821.3ms
+  scene_env_create: mean=2.38s, total=2.38s, count=1, min=2383.8ms, max=2383.8ms
+  scene_compile: mean=1.22s, total=1.22s, count=1, min=1217.4ms, max=1217.4ms
+  compile_mujoco: mean=625.0ms, total=625.0ms, count=1, min=625.0ms, max=625.0ms
+  task_specific_sample: mean=597.9ms, total=597.9ms, count=1, min=597.9ms, max=597.9ms
+  compile_xml_load: mean=492.1ms, total=492.1ms, count=1, min=492.1ms, max=492.1ms
+  scene_init: mean=166.3ms, total=166.3ms, count=1, min=166.3ms, max=166.3ms
+  compile_aux_objects: mean=63.0ms, total=63.0ms, count=1, min=63.0ms, max=63.0ms
+  compile_aux_policy_objects: mean=63.0ms, total=63.0ms, count=1, min=63.0ms, max=63.0ms
+  scene_asset_install: mean=53.4ms, total=53.4ms, count=1, min=53.4ms, max=53.4ms
+  asset_install_grasps: mean=36.8ms, total=36.8ms, count=1, min=36.8ms, max=36.8ms
+  compile_robot_add: mean=26.8ms, total=26.8ms, count=1, min=26.8ms, max=26.8ms
+  asset_install_objects: mean=12.1ms, total=12.1ms, count=1, min=12.1ms, max=12.1ms
+  asset_install_scene: mean=4.4ms, total=4.4ms, count=1, min=4.4ms, max=4.4ms
+  scene_randomize: mean=1.7ms, total=1.7ms, count=1, min=1.7ms, max=1.7ms
+  mj_forward_sync: mean=694.1us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
+  policy_setup: mean=50.5us, total=0.1ms, count=1, min=0.1ms, max=0.1ms	[profiler_utils.py: 380]
+05/12 04:24:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 04:24:25 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 04:24:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 04:24:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 04:24:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 04:24:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 04:24:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 04:24:25 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 04:24:25 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 04:24:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 04:24:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.062m, effective arm-mount z=0.922m (base_body_z=0.062m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 04:24:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 04:24:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 04:24:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.061941m	[env.py: 870]
+05/12 04:24:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 04:24:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 04:24:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 04:24:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -64.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:24:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -51.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:24:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -69.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:24:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 96.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:24:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.74973439  0.20428331  0.061941  ] yaw=167.3deg	[env.py: 1019]
+05/12 04:24:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 04:24:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.78132203  0.54394698  0.061941  ] yaw=-170.9deg	[env.py: 1019]
+05/12 04:24:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 04:24:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.90637149  0.95891467  0.061941  ] yaw=-112.2deg	[env.py: 1019]
+05/12 04:24:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 04:24:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 04:24:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=168.3ms, total=168.4ms	[env.py: 1075]
+05/12 04:24:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.750, 0.204, 0.062)	[env.py: 1079]
+05/12 04:24:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 167.3 deg	[env.py: 1082]
+05/12 04:24:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.992m	[env.py: 1086]
+05/12 04:24:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 04:24:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 04:24:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 04:24:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 04:24:26 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 04:24:26 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/12 04:24:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.110s	[base_object_manipulation_planner_policy.py: 377]
+05/12 04:24:26 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]
+05/12 04:24:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 04:24:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.087s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 04:24:27 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.948s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 04:24:27 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.532[m] 85.645[deg]	[grasp_sample.py: 539]
+05/12 04:24:27 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 04:24:27 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 04:24:27 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:24:28 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 04:24:47 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:24:55 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:24:57 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 04:25:01 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:25:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 04:25:08 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:25:19 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:25:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:25:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:25:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:25:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:25:29 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 04:25:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:25:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:25:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:25:33 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:25:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:25:35 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 04:25:35 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 04:25:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 04:25:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 04:25:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/12 04:25:37 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.666s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 04:25:37 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.850[deg]	[grasp_sample.py: 539]
+05/12 04:25:39 ERROR: [Worker 0] Worker 0 house 1 episode 1 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/12 04:25:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 04:25:40 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 04:25:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 04:25:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 04:25:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 04:25:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 04:25:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 04:25:40 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 04:25:40 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 04:25:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 04:25:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.080m, effective arm-mount z=0.940m (base_body_z=0.080m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 04:25:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 04:25:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 04:25:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.080472m	[env.py: 870]
+05/12 04:25:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 04:25:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 04:25:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 04:25:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 62.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:25:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 113.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:25:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 81.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:25:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -52.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:25:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.85120619  0.31069604  0.0804718 ] yaw=129.6deg	[env.py: 1019]
+05/12 04:25:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 04:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.86776202  0.96772931  0.0804718 ] yaw=-110.7deg	[env.py: 1019]
+05/12 04:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 04:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.74149186  0.05820424  0.0804718 ] yaw=117.1deg	[env.py: 1019]
+05/12 04:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 04:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 04:25:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=307.9ms, total=307.9ms	[env.py: 1075]
+05/12 04:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.851, 0.311, 0.080)	[env.py: 1079]
+05/12 04:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 129.6 deg	[env.py: 1082]
+05/12 04:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.868m	[env.py: 1086]
+05/12 04:25:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 04:25:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 04:25:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 04:25:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 04:25:41 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 04:25:41 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/12 04:25:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s	[base_object_manipulation_planner_policy.py: 377]
+05/12 04:25:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 04:25:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 04:25:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 04:25:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.857s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 04:25:42 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.589[m] 100.961[deg]	[grasp_sample.py: 539]
+05/12 04:25:42 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 04:25:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 04:25:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:25:43 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 04:26:06 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 04:26:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:26:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:26:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:26:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:26:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:26:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:26:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:26:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:26:30 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 04:26:30 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 04:26:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 04:26:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 04:26:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.090s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/12 04:26:31 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.798s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 04:26:31 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.033[m] 0.345[deg]	[grasp_sample.py: 539]
+05/12 04:26:33 ERROR: [Worker 0] Worker 0 house 1 episode 1 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/12 04:26:34 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/12 04:26:34 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/12 04:26:34 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 04:26:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 04:26:34 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 04:26:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 04:26:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 04:26:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 04:26:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 04:26:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 04:26:34 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 04:26:34 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 04:26:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 04:26:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.092m, effective arm-mount z=0.952m (base_body_z=0.092m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 04:26:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 04:26:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 04:26:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.092103m	[env.py: 870]
+05/12 04:26:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 04:26:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 04:26:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 04:26:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -64.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:26:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 101.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:26:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.81130203  1.0422347   0.09210322] yaw=-165.7deg	[env.py: 1019]
+05/12 04:26:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 04:26:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.72012904  0.44742804  0.09210322] yaw=156.7deg	[env.py: 1019]
+05/12 04:26:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 04:26:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 71.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:26:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.71227937  0.82454143  0.09210322] yaw=-173.1deg	[env.py: 1019]
+05/12 04:26:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 04:26:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 04:26:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=202.5ms, total=202.6ms	[env.py: 1075]
+05/12 04:26:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.811, 1.042, 0.092)	[env.py: 1079]
+05/12 04:26:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -165.7 deg	[env.py: 1082]
+05/12 04:26:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.053m	[env.py: 1086]
+05/12 04:26:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 04:26:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 04:26:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 04:26:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 04:26:35 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 04:26:35 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/12 04:26:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
+05/12 04:26:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 04:26:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 04:26:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 04:26:37 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:26:41 INFO: [Worker 0] Feasibility-checked 88 grasps in 5.694s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 04:26:41 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.681[m] 82.248[deg]	[grasp_sample.py: 539]
+05/12 04:26:42 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/12 04:26:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 04:26:45 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 04:26:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 04:26:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 04:26:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 04:26:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 04:26:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 04:26:45 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 04:26:45 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 04:26:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 04:26:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.099m, effective arm-mount z=0.959m (base_body_z=0.099m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 04:26:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 04:26:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 04:26:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.098660m	[env.py: 870]
+05/12 04:26:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 04:26:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 04:26:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 04:26:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 97.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:26:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -67.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:26:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.84559467  0.54288683  0.09866032] yaw=-159.5deg	[env.py: 1019]
+05/12 04:26:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 04:26:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 52.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:26:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -75.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:26:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 04:26:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=290.0ms, total=290.0ms	[env.py: 1075]
+05/12 04:26:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.846, 0.543, 0.099)	[env.py: 1079]
+05/12 04:26:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -159.5 deg	[env.py: 1082]
+05/12 04:26:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.859m	[env.py: 1086]
+05/12 04:26:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 04:26:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 04:26:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 04:26:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 04:26:46 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 04:26:46 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/12 04:26:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.107s	[base_object_manipulation_planner_policy.py: 377]
+05/12 04:26:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 04:26:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 04:26:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.087s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 04:26:47 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.886s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 04:26:47 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.403[m] 82.328[deg]	[grasp_sample.py: 539]
+05/12 04:26:47 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 04:26:48 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 04:26:48 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:26:48 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 04:26:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 04:26:50 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_005	[save_utils.py: 785]
+05/12 04:26:50 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 16.01s (batch: 4.42s, save: 11.58s)	[pipeline.py: 300]
+05/12 04:26:50 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=4.81s:
+  episode_total: mean=184.36s, total=368.72s, count=2, min=183647.3ms, max=185076.3ms
+  sensor_polling: mean=417.8ms, total=245.69s, count=588, min=373.2ms, max=850.5ms
+  physics_step: mean=25.4ms, total=14.93s, count=588, min=17.1ms, max=53.5ms
+  save_trajectories: mean=11.58s, total=11.58s, count=1, min=11581.6ms, max=11581.6ms
+  task_sampling: mean=2.41s, total=4.81s, count=2, min=1110.1ms, max=3701.5ms
+  save_batch_prep: mean=4.42s, total=4.42s, count=1, min=4424.7ms, max=4424.7ms
+  scene_load: mean=3.13s, total=3.13s, count=1, min=3129.2ms, max=3129.2ms
+  scene_env_create: mean=1.88s, total=1.88s, count=1, min=1877.2ms, max=1877.2ms
+  task_specific_sample: mean=837.2ms, total=1.67s, count=2, min=568.2ms, max=1106.2ms
+  scene_compile: mean=1.03s, total=1.03s, count=1, min=1031.3ms, max=1031.3ms
+  compile_mujoco: mean=664.2ms, total=664.2ms, count=1, min=664.2ms, max=664.2ms
+  compile_xml_load: mean=255.7ms, total=255.7ms, count=1, min=255.7ms, max=255.7ms
+  scene_init: mean=157.3ms, total=157.3ms, count=1, min=157.3ms, max=157.3ms
+  compile_aux_objects: mean=84.2ms, total=84.2ms, count=1, min=84.2ms, max=84.2ms
+  compile_aux_policy_objects: mean=84.2ms, total=84.2ms, count=1, min=84.2ms, max=84.2ms
+  scene_asset_install: mean=63.0ms, total=63.0ms, count=1, min=63.0ms, max=63.0ms
+  asset_install_grasps: mean=44.5ms, total=44.5ms, count=1, min=44.5ms, max=44.5ms
+  compile_robot_add: mean=17.7ms, total=17.7ms, count=1, min=17.7ms, max=17.7ms
+  asset_install_objects: mean=14.6ms, total=14.6ms, count=1, min=14.6ms, max=14.6ms
+  scene_randomize: mean=2.3ms, total=4.5ms, count=2, min=2.3ms, max=2.3ms
+  asset_install_scene: mean=3.9ms, total=3.9ms, count=1, min=3.9ms, max=3.9ms
+  mj_forward_sync: mean=528.8us, total=1.1ms, count=2, min=0.5ms, max=0.6ms
+  policy_setup: mean=46.1us, total=0.1ms, count=2, min=0.0ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 04:26:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 04:26:52 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 04:26:52 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 04:26:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 04:26:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 04:26:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 04:26:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 04:26:52 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 04:26:52 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 04:26:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 04:26:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.034m, effective arm-mount z=0.894m (base_body_z=0.034m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 04:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 04:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 04:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034263m	[env.py: 870]
+05/12 04:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 04:26:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 04:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 04:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -37.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.187105    1.09763982  0.03426297] yaw=-146.3deg	[env.py: 1019]
+05/12 04:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 04:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 62.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 58.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -50.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 04:26:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=238.9ms, total=239.0ms	[env.py: 1075]
+05/12 04:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.187, 1.098, 0.034)	[env.py: 1079]
+05/12 04:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -146.3 deg	[env.py: 1082]
+05/12 04:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.803m	[env.py: 1086]
+05/12 04:26:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 04:26:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 04:26:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 04:26:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 04:26:52 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 04:26:52 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/12 04:26:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.106s	[base_object_manipulation_planner_policy.py: 377]
+05/12 04:26:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 04:26:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 04:26:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 04:26:53 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.820s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 04:26:53 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.401[m] 84.530[deg]	[grasp_sample.py: 539]
+05/12 04:26:53 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 04:26:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 04:26:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:26:55 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 04:26:59 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:27:08 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 04:27:27 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:27:30 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:27:36 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 04:27:37 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/12 04:27:37 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/12 04:27:37 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 04:27:40 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 04:27:40 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:27:44 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:27:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 04:27:52 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_005	[save_utils.py: 785]
+05/12 04:27:52 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 15.04s (batch: 4.21s, save: 10.82s)	[pipeline.py: 300]
+05/12 04:27:53 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.50s:
+  episode_total: mean=207.95s, total=207.95s, count=1, min=207949.4ms, max=207949.4ms
+  sensor_polling: mean=469.5ms, total=140.86s, count=300, min=406.1ms, max=747.8ms
+  save_trajectories: mean=10.82s, total=10.82s, count=1, min=10824.6ms, max=10824.6ms
+  physics_step: mean=28.0ms, total=8.40s, count=300, min=21.5ms, max=51.0ms
+  save_batch_prep: mean=4.21s, total=4.21s, count=1, min=4211.5ms, max=4211.5ms
+  task_sampling: mean=499.2ms, total=499.2ms, count=1, min=499.2ms, max=499.2ms
+  task_specific_sample: mean=494.6ms, total=494.6ms, count=1, min=494.6ms, max=494.6ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=456.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=44.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 04:27:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:27:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 04:27:54 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 04:27:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 04:27:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 04:27:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 04:27:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 04:27:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 04:27:54 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 04:27:54 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 04:27:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 04:27:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.079m, effective arm-mount z=0.939m (base_body_z=0.079m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 04:27:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 04:27:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 04:27:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.078682m	[env.py: 870]
+05/12 04:27:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 04:27:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 04:27:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 04:27:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.99299329  0.21118909  0.07868217] yaw=131.8deg	[env.py: 1019]
+05/12 04:27:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 04:27:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -55.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:27:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.65891713  0.35102526  0.07868217] yaw=190.8deg	[env.py: 1019]
+05/12 04:27:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 04:27:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.82530514  0.91229465  0.07868217] yaw=-137.6deg	[env.py: 1019]
+05/12 04:27:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 04:27:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 04:27:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=104.6ms, total=104.7ms	[env.py: 1075]
+05/12 04:27:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.993, 0.211, 0.079)	[env.py: 1079]
+05/12 04:27:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 131.8 deg	[env.py: 1082]
+05/12 04:27:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.759m	[env.py: 1086]
+05/12 04:27:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 04:27:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 04:27:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 04:27:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 04:27:55 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 04:27:55 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/12 04:27:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.104s	[base_object_manipulation_planner_policy.py: 377]
+05/12 04:27:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 04:27:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 04:27:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.084s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 04:27:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:27:56 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.951s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 04:27:56 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.408[m] 92.051[deg]	[grasp_sample.py: 539]
+05/12 04:27:56 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 04:27:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 04:27:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:27:57 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 04:27:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:27:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:28:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:28:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:28:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:28:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:28:06 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 04:28:06 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 04:28:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 04:28:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 04:28:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.090s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/12 04:28:07 INFO: [Worker 0] Feasibility-checked 80 grasps in 1.095s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 04:28:07 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.033[m] 0.502[deg]	[grasp_sample.py: 539]
+05/12 04:28:07 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 04:28:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 04:28:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:28:14 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:28:25 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 04:28:29 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:28:32 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:28:40 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 04:28:42 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 04:28:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:28:45 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:28:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:28:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:28:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:28:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:28:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:28:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:28:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:28:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:28:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:28:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:28:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:28:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:28:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:28:56 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 04:28:56 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 04:28:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 04:28:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 04:28:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.105s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/12 04:28:56 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.800s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 04:28:56 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.493[deg]	[grasp_sample.py: 539]
+05/12 04:28:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:28:56 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 04:28:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 04:28:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:28:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:28:58 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 04:28:58 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 04:28:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 04:28:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 04:28:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.095s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/12 04:29:01 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.584s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 04:29:01 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.363[deg]	[grasp_sample.py: 539]
+05/12 04:29:02 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/12 04:29:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 04:29:04 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 04:29:04 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 04:29:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 04:29:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 04:29:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 04:29:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 04:29:04 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 04:29:04 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 04:29:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 04:29:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.060m, effective arm-mount z=0.920m (base_body_z=0.060m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 04:29:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 04:29:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 04:29:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.060136m	[env.py: 870]
+05/12 04:29:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 04:29:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 04:29:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 04:29:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -54.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:29:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.99988951  0.19215214  0.06013583] yaw=168.2deg	[env.py: 1019]
+05/12 04:29:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 04:29:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.97837638  1.16793039  0.06013583] yaw=-122.1deg	[env.py: 1019]
+05/12 04:29:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 04:29:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.12738027  0.9675262   0.06013583] yaw=-157.4deg	[env.py: 1019]
+05/12 04:29:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 04:29:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 04:29:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=98.1ms, total=98.2ms	[env.py: 1075]
+05/12 04:29:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.000, 0.192, 0.060)	[env.py: 1079]
+05/12 04:29:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 168.2 deg	[env.py: 1082]
+05/12 04:29:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.760m	[env.py: 1086]
+05/12 04:29:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 04:29:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 04:29:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 04:29:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 04:29:04 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 04:29:04 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/12 04:29:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s	[base_object_manipulation_planner_policy.py: 377]
+05/12 04:29:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 04:29:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 04:29:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.088s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 04:29:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.953s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 04:29:05 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.363[m] 92.805[deg]	[grasp_sample.py: 539]
+05/12 04:29:05 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 04:29:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 04:29:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:29:06 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 04:29:07 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:29:10 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/12 04:29:10 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/12 04:29:10 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 04:29:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:29:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:29:17 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 04:29:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:29:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:29:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:29:21 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:29:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:29:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:29:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:29:25 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 04:29:25 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 04:29:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 04:29:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 04:29:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/12 04:29:26 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 04:29:26 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_005	[save_utils.py: 785]
+05/12 04:29:26 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 16.35s (batch: 4.49s, save: 11.86s)	[pipeline.py: 300]
+05/12 04:29:26 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.748s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 04:29:26 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.033[m] 0.275[deg]	[grasp_sample.py: 539]
+05/12 04:29:27 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=4.97s:
+  episode_total: mean=174.66s, total=523.99s, count=3, min=142117.6ms, max=226348.9ms
+  sensor_polling: mean=437.3ms, total=342.40s, count=783, min=385.1ms, max=913.3ms
+  physics_step: mean=25.8ms, total=20.23s, count=783, min=16.9ms, max=54.6ms
+  save_trajectories: mean=11.86s, total=11.86s, count=1, min=11857.0ms, max=11857.0ms
+  task_sampling: mean=1.66s, total=4.97s, count=3, min=598.5ms, max=3699.0ms
+  save_batch_prep: mean=4.49s, total=4.49s, count=1, min=4489.7ms, max=4489.7ms
+  scene_load: mean=3.09s, total=3.09s, count=1, min=3089.2ms, max=3089.2ms
+  scene_env_create: mean=1.90s, total=1.90s, count=1, min=1903.5ms, max=1903.5ms
+  task_specific_sample: mean=624.7ms, total=1.87s, count=3, min=595.5ms, max=671.6ms
+  scene_compile: mean=1.01s, total=1.01s, count=1, min=1006.3ms, max=1006.3ms
+  compile_mujoco: mean=739.0ms, total=739.0ms, count=1, min=739.0ms, max=739.0ms
+  compile_xml_load: mean=191.3ms, total=191.3ms, count=1, min=191.3ms, max=191.3ms
+  scene_init: mean=116.5ms, total=116.5ms, count=1, min=116.5ms, max=116.5ms
+  scene_asset_install: mean=62.5ms, total=62.5ms, count=1, min=62.5ms, max=62.5ms
+  compile_aux_objects: mean=55.0ms, total=55.0ms, count=1, min=55.0ms, max=55.0ms
+  compile_aux_policy_objects: mean=55.0ms, total=55.0ms, count=1, min=55.0ms, max=55.0ms
+  asset_install_grasps: mean=44.4ms, total=44.4ms, count=1, min=44.4ms, max=44.4ms
+  asset_install_objects: mean=14.3ms, total=14.3ms, count=1, min=14.3ms, max=14.3ms
+  compile_robot_add: mean=9.4ms, total=9.4ms, count=1, min=9.4ms, max=9.4ms
+  scene_randomize: mean=1.3ms, total=4.0ms, count=3, min=1.2ms, max=1.5ms
+  asset_install_scene: mean=3.7ms, total=3.7ms, count=1, min=3.7ms, max=3.7ms
+  mj_forward_sync: mean=464.0us, total=1.4ms, count=3, min=0.5ms, max=0.5ms
+  policy_setup: mean=29.7us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 04:29:28 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/12 04:29:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 04:29:28 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 04:29:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 04:29:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 04:29:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 04:29:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 04:29:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 04:29:28 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 04:29:28 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 04:29:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 04:29:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.090m, effective arm-mount z=0.950m (base_body_z=0.090m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 04:29:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 04:29:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 04:29:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.090306m	[env.py: 870]
+05/12 04:29:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 04:29:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 04:29:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 04:29:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 101.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:29:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 62.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:29:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 103.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:29:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -65.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:29:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.90939606  1.23361955  0.09030625] yaw=-127.5deg	[env.py: 1019]
+05/12 04:29:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 04:29:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.63216453  0.44367806  0.09030625] yaw=158.1deg	[env.py: 1019]
+05/12 04:29:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 04:29:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 04:29:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=206.7ms, total=206.8ms	[env.py: 1075]
+05/12 04:29:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.909, 1.234, 0.090)	[env.py: 1079]
+05/12 04:29:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -127.5 deg	[env.py: 1082]
+05/12 04:29:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.093m	[env.py: 1086]
+05/12 04:29:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 04:29:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 04:29:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 04:29:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 04:29:29 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 04:29:29 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/12 04:29:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.116s	[base_object_manipulation_planner_policy.py: 377]
+05/12 04:29:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 04:29:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 04:29:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 04:29:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 04:29:29 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 04:29:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 04:29:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 04:29:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 04:29:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 04:29:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 04:29:29 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 04:29:29 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 04:29:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 04:29:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.037m, effective arm-mount z=0.897m (base_body_z=0.037m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 04:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 04:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 04:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.036532m	[env.py: 870]
+05/12 04:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 04:29:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 04:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 04:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 104.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.79881854  0.91588203  0.03653167] yaw=-126.4deg	[env.py: 1019]
+05/12 04:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 04:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 178.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 129.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 78.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.98260906  1.19411499  0.03653167] yaw=-108.9deg	[env.py: 1019]
+05/12 04:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 04:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.91600579  1.00646082  0.03653167] yaw=-149.4deg	[env.py: 1019]
+05/12 04:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 04:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 04:29:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=168.5ms, total=168.5ms	[env.py: 1075]
+05/12 04:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.799, 0.916, 0.037)	[env.py: 1079]
+05/12 04:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -126.4 deg	[env.py: 1082]
+05/12 04:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.002m	[env.py: 1086]
+05/12 04:29:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 04:29:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 04:29:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 04:29:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 04:29:30 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 04:29:30 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/12 04:29:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s	[base_object_manipulation_planner_policy.py: 377]
+05/12 04:29:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 04:29:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 04:29:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 04:29:32 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.894s, found feasible grasp: False	[grasp_sample.py: 500]
+05/12 04:29:32 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/12 04:29:33 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.922s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 04:29:33 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.637[m] 93.153[deg]	[grasp_sample.py: 539]
+05/12 04:29:33 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 04:29:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 04:29:33 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:29:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 04:29:33 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 04:29:33 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 04:29:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 04:29:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 04:29:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 04:29:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 04:29:33 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 04:29:33 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 04:29:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 04:29:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.082m, effective arm-mount z=0.942m (base_body_z=0.082m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 04:29:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 04:29:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 04:29:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.081526m	[env.py: 870]
+05/12 04:29:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 04:29:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 04:29:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 04:29:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 116.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:29:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.97661907  1.25212697  0.0815265 ] yaw=-97.6deg	[env.py: 1019]
+05/12 04:29:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 04:29:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 60.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:29:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.77057547  0.03359883  0.0815265 ] yaw=178.8deg	[env.py: 1019]
+05/12 04:29:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 04:29:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.73821433  0.92789569  0.0815265 ] yaw=-186.9deg	[env.py: 1019]
+05/12 04:29:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 04:29:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 04:29:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=114.0ms, total=114.0ms	[env.py: 1075]
+05/12 04:29:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.977, 1.252, 0.082)	[env.py: 1079]
+05/12 04:29:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -97.6 deg	[env.py: 1082]
+05/12 04:29:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.058m	[env.py: 1086]
+05/12 04:29:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 04:29:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 04:29:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 04:29:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 04:29:34 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 04:29:34 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/12 04:29:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s	[base_object_manipulation_planner_policy.py: 377]
+05/12 04:29:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 04:29:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 04:29:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 04:29:36 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:29:37 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.127s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 04:29:37 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.697[m] 95.320[deg]	[grasp_sample.py: 539]
+05/12 04:29:38 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/12 04:29:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 04:29:40 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 04:29:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 04:29:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 04:29:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 04:29:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 04:29:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 04:29:40 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 04:29:40 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 04:29:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 04:29:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.094m, effective arm-mount z=0.954m (base_body_z=0.094m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 04:29:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 04:29:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 04:29:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.094060m	[env.py: 870]
+05/12 04:29:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 04:29:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 04:29:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 04:29:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 67.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:29:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.03270434  0.82513412  0.09405955] yaw=-166.6deg	[env.py: 1019]
+05/12 04:29:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 04:29:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 67.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:29:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.91682475  0.74963872  0.09405955] yaw=-139.1deg	[env.py: 1019]
+05/12 04:29:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 04:29:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -66.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:29:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.65154662  0.79311719  0.09405955] yaw=-194.2deg	[env.py: 1019]
+05/12 04:29:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 04:29:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 04:29:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=628.2ms, total=628.2ms	[env.py: 1075]
+05/12 04:29:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.033, 0.825, 0.094)	[env.py: 1079]
+05/12 04:29:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -166.6 deg	[env.py: 1082]
+05/12 04:29:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.752m	[env.py: 1086]
+05/12 04:29:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 04:29:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 04:29:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 04:29:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 04:29:40 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 04:29:40 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/12 04:29:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.092s	[base_object_manipulation_planner_policy.py: 377]
+05/12 04:29:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 04:29:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 04:29:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 04:29:41 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.816s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 04:29:41 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.346[m] 87.677[deg]	[grasp_sample.py: 539]
+05/12 04:29:41 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 04:29:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 04:29:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:29:42 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 04:29:45 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 04:29:49 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:30:10 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/12 04:30:10 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/12 04:30:10 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 04:30:14 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:30:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:30:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:30:22 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 04:30:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:30:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 04:30:25 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_005	[save_utils.py: 785]
+05/12 04:30:25 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 15.09s (batch: 4.02s, save: 11.08s)	[pipeline.py: 300]
+05/12 04:30:26 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=5.22s:
+  episode_total: mean=145.12s, total=580.49s, count=4, min=8012.3ms, max=220285.2ms
+  sensor_polling: mean=461.0ms, total=318.12s, count=690, min=398.1ms, max=793.1ms
+  physics_step: mean=26.3ms, total=18.17s, count=690, min=16.5ms, max=52.2ms
+  save_trajectories: mean=11.08s, total=11.08s, count=1, min=11078.7ms, max=11078.7ms
+  task_sampling: mean=1.31s, total=5.22s, count=4, min=441.5ms, max=3625.9ms
+  save_batch_prep: mean=4.02s, total=4.02s, count=1, min=4016.0ms, max=4016.0ms
+  scene_load: mean=3.10s, total=3.10s, count=1, min=3104.4ms, max=3104.4ms
+  task_specific_sample: mean=525.5ms, total=2.10s, count=4, min=437.4ms, max=648.3ms
+  scene_env_create: mean=2.05s, total=2.05s, count=1, min=2046.8ms, max=2046.8ms
+  scene_compile: mean=881.5ms, total=881.5ms, count=1, min=881.5ms, max=881.5ms
+  compile_mujoco: mean=618.8ms, total=618.8ms, count=1, min=618.8ms, max=618.8ms
+  compile_xml_load: mean=190.1ms, total=190.1ms, count=1, min=190.1ms, max=190.1ms
+  scene_init: mean=121.6ms, total=121.6ms, count=1, min=121.6ms, max=121.6ms
+  compile_aux_objects: mean=54.7ms, total=54.7ms, count=1, min=54.7ms, max=54.7ms
+  compile_aux_policy_objects: mean=54.7ms, total=54.7ms, count=1, min=54.7ms, max=54.7ms
+  scene_asset_install: mean=54.2ms, total=54.2ms, count=1, min=54.2ms, max=54.2ms
+  asset_install_grasps: mean=39.4ms, total=39.4ms, count=1, min=39.4ms, max=39.4ms
+  asset_install_objects: mean=11.5ms, total=11.5ms, count=1, min=11.5ms, max=11.5ms
+  scene_randomize: mean=2.2ms, total=8.8ms, count=4, min=1.8ms, max=2.6ms
+  compile_robot_add: mean=8.2ms, total=8.2ms, count=1, min=8.2ms, max=8.2ms
+  asset_install_scene: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
+  mj_forward_sync: mean=460.0us, total=1.8ms, count=4, min=0.4ms, max=0.5ms
+  policy_setup: mean=23.0us, total=0.1ms, count=4, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 04:30:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:30:26 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:30:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 04:30:27 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 04:30:27 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 04:30:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 04:30:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 04:30:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 04:30:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 04:30:27 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 04:30:27 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 04:30:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 04:30:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.093m, effective arm-mount z=0.953m (base_body_z=0.093m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 04:30:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 04:30:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 04:30:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.092867m	[env.py: 870]
+05/12 04:30:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 04:30:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 04:30:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 04:30:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 123.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:30:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 150.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:30:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.78984336  0.15051661  0.09286681] yaw=176.2deg	[env.py: 1019]
+05/12 04:30:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 04:30:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 124.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:30:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 93.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:30:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.68784634  0.83899149  0.09286681] yaw=-136.5deg	[env.py: 1019]
+05/12 04:30:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 04:30:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 04:30:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=237.1ms, total=237.1ms	[env.py: 1075]
+05/12 04:30:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.790, 0.151, 0.093)	[env.py: 1079]
+05/12 04:30:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 176.2 deg	[env.py: 1082]
+05/12 04:30:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.971m	[env.py: 1086]
+05/12 04:30:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 04:30:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 04:30:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 04:30:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 04:30:28 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 04:30:28 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/12 04:30:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.097s	[base_object_manipulation_planner_policy.py: 377]
+05/12 04:30:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 04:30:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 04:30:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.091s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 04:30:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:30:29 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.064s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 04:30:29 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.553[m] 94.604[deg]	[grasp_sample.py: 539]
+05/12 04:30:29 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 04:30:29 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 04:30:29 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:30:30 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 04:30:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:30:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:30:34 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:30:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:30:35 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 04:30:35 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 04:30:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 04:30:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 04:30:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.091s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/12 04:30:36 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.595s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 04:30:36 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.531[deg]	[grasp_sample.py: 539]
+05/12 04:30:37 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/12 04:30:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 04:30:39 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 04:30:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 04:30:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 04:30:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 04:30:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 04:30:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 04:30:39 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 04:30:39 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 04:30:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 04:30:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.012m, effective arm-mount z=0.872m (base_body_z=0.012m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 04:30:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 04:30:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 04:30:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.011674m	[env.py: 870]
+05/12 04:30:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 04:30:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 04:30:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 04:30:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -48.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:30:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -39.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:30:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 62.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:30:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -42.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:30:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 98.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:30:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.03563526  0.92090091  0.01167366] yaw=-184.4deg	[env.py: 1019]
+05/12 04:30:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 04:30:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.69399156  0.21639296  0.01167366] yaw=174.4deg	[env.py: 1019]
+05/12 04:30:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 04:30:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.73276863  0.88940227  0.01167366] yaw=-162.1deg	[env.py: 1019]
+05/12 04:30:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 04:30:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 04:30:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=359.2ms, total=359.3ms	[env.py: 1075]
+05/12 04:30:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.036, 0.921, 0.012)	[env.py: 1079]
+05/12 04:30:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -184.4 deg	[env.py: 1082]
+05/12 04:30:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.798m	[env.py: 1086]
+05/12 04:30:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 04:30:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 04:30:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 04:30:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 04:30:40 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 04:30:40 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/12 04:30:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s	[base_object_manipulation_planner_policy.py: 377]
+05/12 04:30:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 04:30:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 04:30:40 INFO: [Worker 0] Collision-checked 230 grasps in 0.090s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 04:30:40 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.795s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 04:30:40 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.545[m] 101.608[deg]	[grasp_sample.py: 539]
+05/12 04:30:41 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 04:30:41 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 04:30:41 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:30:43 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 04:30:48 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:31:25 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:31:31 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:31:35 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 04:31:39 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 04:31:40 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:31:44 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:32:00 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 04:32:00 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 04:32:24 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/12 04:32:24 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/12 04:32:24 INFO: [Worker 0] Preparing episode data: 291 timesteps	[save_utils.py: 278]
+05/12 04:32:31 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/12 04:32:31 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/12 04:32:31 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 04:32:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 04:32:40 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_005	[save_utils.py: 785]
+05/12 04:32:40 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 16.01s (batch: 4.04s, save: 11.98s)	[pipeline.py: 300]
+05/12 04:32:41 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=1.77s:
+  episode_total: mean=63.23s, total=189.70s, count=3, min=3598.1ms, max=181223.9ms
+  sensor_polling: mean=439.9ms, total=127.57s, count=290, min=399.7ms, max=875.4ms
+  save_trajectories: mean=11.98s, total=11.98s, count=1, min=11976.5ms, max=11976.5ms
+  physics_step: mean=26.1ms, total=7.56s, count=290, min=21.5ms, max=37.9ms
+  save_batch_prep: mean=4.04s, total=4.04s, count=1, min=4036.7ms, max=4036.7ms
+  task_sampling: mean=589.5ms, total=1.77s, count=3, min=378.3ms, max=885.8ms
+  task_specific_sample: mean=585.8ms, total=1.76s, count=3, min=375.2ms, max=881.9ms
+  scene_randomize: mean=2.0ms, total=6.1ms, count=3, min=1.2ms, max=2.5ms
+  mj_forward_sync: mean=463.3us, total=1.4ms, count=3, min=0.5ms, max=0.5ms
+  policy_setup: mean=23.8us, 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]
+05/12 04:32:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 04:32:42 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 04:32:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 04:32:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 04:32:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 04:32:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 04:32:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 04:32:42 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 04:32:42 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 04:32:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 04:32:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.001m, effective arm-mount z=0.861m (base_body_z=0.001m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 04:32:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 04:32:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 04:32:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.000684m	[env.py: 870]
+05/12 04:32:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 04:32:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 04:32:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 04:32:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 57.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:32:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -35.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:32:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-8.54401879e-01  1.00394246e+00  6.84046224e-04] yaw=-162.6deg	[env.py: 1019]
+05/12 04:32:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 04:32:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 83.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:32:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 95.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:32:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 04:32:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=409.6ms, total=409.6ms	[env.py: 1075]
+05/12 04:32:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.854, 1.004, 0.001)	[env.py: 1079]
+05/12 04:32:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -162.6 deg	[env.py: 1082]
+05/12 04:32:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.996m	[env.py: 1086]
+05/12 04:32:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 04:32:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 04:32:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 04:32:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 04:32:43 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 04:32:43 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/12 04:32:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.114s	[base_object_manipulation_planner_policy.py: 377]
+05/12 04:32:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 04:32:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 04:32:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 04:32:46 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.934s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 04:32:46 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.577[m] 91.381[deg]	[grasp_sample.py: 539]
+05/12 04:32:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 04:32:47 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_005	[save_utils.py: 785]
+05/12 04:32:47 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 15.91s (batch: 4.48s, save: 11.43s)	[pipeline.py: 300]
+05/12 04:32:47 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.85s:
+  episode_total: mean=145.52s, total=291.04s, count=2, min=93039.4ms, max=197996.7ms
+  sensor_polling: mean=444.4ms, total=209.32s, count=471, min=393.2ms, max=874.3ms
+  physics_step: mean=26.0ms, total=12.27s, count=471, min=16.8ms, max=78.0ms
+  save_trajectories: mean=11.43s, total=11.43s, count=1, min=11433.7ms, max=11433.7ms
+  save_batch_prep: mean=4.48s, total=4.48s, count=1, min=4477.5ms, max=4477.5ms
+  task_sampling: mean=427.1ms, total=854.1ms, count=2, min=406.1ms, max=448.0ms
+  task_specific_sample: mean=423.2ms, total=846.4ms, count=2, min=401.9ms, max=444.5ms
+  scene_randomize: mean=2.2ms, total=4.4ms, count=2, min=1.6ms, max=2.8ms
+  mj_forward_sync: mean=520.1us, 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]
+05/12 04:32:48 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/12 04:32:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 04:32:49 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 04:32:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 04:32:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 04:32:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 04:32:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 04:32:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 04:32:49 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 04:32:49 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 04:32:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 04:32:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.081m, effective arm-mount z=0.941m (base_body_z=0.081m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 04:32:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 04:32:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 04:32:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.081066m	[env.py: 870]
+05/12 04:32:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 04:32:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 04:32:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 04:32:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -166.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:32:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -64.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:32:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 94.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:32:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.73249734  0.42313655  0.08106623] yaw=208.6deg	[env.py: 1019]
+05/12 04:32:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 04:32:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.72847637  0.3365267   0.08106623] yaw=138.0deg	[env.py: 1019]
+05/12 04:32:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 04:32:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.91555704  0.91786077  0.08106623] yaw=-166.7deg	[env.py: 1019]
+05/12 04:32:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 04:32:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 04:32:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=133.5ms, total=133.5ms	[env.py: 1075]
+05/12 04:32:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.732, 0.423, 0.081)	[env.py: 1079]
+05/12 04:32:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 208.6 deg	[env.py: 1082]
+05/12 04:32:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.972m	[env.py: 1086]
+05/12 04:32:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 04:32:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 04:32:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 04:32:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 04:32:49 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 04:32:49 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/12 04:32:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.123s	[base_object_manipulation_planner_policy.py: 377]
+05/12 04:32:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 04:32:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 04:32:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 04:32:49 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 04:32:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 04:32:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 04:32:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 04:32:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 04:32:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 04:32:49 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 04:32:49 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 04:32:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 04:32:49 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: 256]
+05/12 04:32:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 04:32:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 04:32:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.072133m	[env.py: 870]
+05/12 04:32:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 04:32:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 04:32:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 04:32:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.123s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 04:32:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.73921946  0.93841771  0.0721334 ] yaw=-189.3deg	[env.py: 1019]
+05/12 04:32:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 04:32:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.82993069  0.23123792  0.0721334 ] yaw=150.9deg	[env.py: 1019]
+05/12 04:32:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 04:32:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 61.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:32:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 107.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:32:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.7389623  -0.01375871  0.0721334 ] yaw=113.9deg	[env.py: 1019]
+05/12 04:32:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 04:32:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 04:32:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=223.0ms, total=223.1ms	[env.py: 1075]
+05/12 04:32:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.739, 0.938, 0.072)	[env.py: 1079]
+05/12 04:32:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -189.3 deg	[env.py: 1082]
+05/12 04:32:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.066m	[env.py: 1086]
+05/12 04:32:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 04:32:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 04:32:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 04:32:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 04:32:50 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 04:32:50 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/12 04:32:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.100s	[base_object_manipulation_planner_policy.py: 377]
+05/12 04:32:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 04:32:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 04:32:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 04:32:50 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.098s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 04:32:50 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.602[m] 84.050[deg]	[grasp_sample.py: 539]
+05/12 04:32:51 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 04:32:51 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 04:32:51 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:32:51 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 04:32:54 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.025s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 04:32:54 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.755[m] 96.625[deg]	[grasp_sample.py: 539]
+05/12 04:32:54 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 04:32:55 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 04:32:55 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:32:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:33:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:33:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:33:03 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 04:33:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:33:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:33:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:33:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:33:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:33:12 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 04:33:12 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 04:33:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 04:33:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 04:33:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/12 04:33:13 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.810s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 04:33:13 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.050[m] 0.515[deg]	[grasp_sample.py: 539]
+05/12 04:33:15 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/12 04:33:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 04:33:16 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 04:33:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 04:33:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 04:33:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 04:33:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 04:33:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 04:33:16 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 04:33:16 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 04:33:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 04:33:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.049m, effective arm-mount z=0.909m (base_body_z=0.049m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 04:33:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 04:33:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 04:33:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.048590m	[env.py: 870]
+05/12 04:33:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 04:33:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 04:33:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 04:33:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -32.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:33:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.81222926  0.6224402   0.04858954] yaw=-153.1deg	[env.py: 1019]
+05/12 04:33:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 04:33:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.02688928  0.91395985  0.04858954] yaw=-111.4deg	[env.py: 1019]
+05/12 04:33:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 04:33:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 94.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:33:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 172.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:33:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.1936931   1.06147426  0.04858954] yaw=-110.5deg	[env.py: 1019]
+05/12 04:33:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 04:33:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 04:33:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=199.9ms, total=200.0ms	[env.py: 1075]
+05/12 04:33:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.812, 0.622, 0.049)	[env.py: 1079]
+05/12 04:33:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -153.1 deg	[env.py: 1082]
+05/12 04:33:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.901m	[env.py: 1086]
+05/12 04:33:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 04:33:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 04:33:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 04:33:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 04:33:17 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 04:33:17 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/12 04:33:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s	[base_object_manipulation_planner_policy.py: 377]
+05/12 04:33:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 04:33:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 04:33:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.091s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 04:33:18 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.826s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 04:33:18 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.490[m] 82.410[deg]	[grasp_sample.py: 539]
+05/12 04:33:18 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 04:33:18 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 04:33:18 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:33:19 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 04:33:33 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/12 04:33:33 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/12 04:33:33 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 04:33:46 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:33:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 04:33:49 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_005	[save_utils.py: 785]
+05/12 04:33:49 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 16.47s (batch: 4.62s, save: 11.85s)	[pipeline.py: 300]
+05/12 04:33:50 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=1.55s:
+  episode_total: mean=138.21s, total=414.62s, count=3, min=93317.9ms, max=190678.1ms
+  sensor_polling: mean=436.9ms, total=304.95s, count=698, min=368.4ms, max=950.3ms
+  physics_step: mean=27.9ms, total=19.48s, count=698, min=16.8ms, max=71.7ms
+  save_trajectories: mean=11.85s, total=11.85s, count=1, min=11845.5ms, max=11845.5ms
+  save_batch_prep: mean=4.62s, total=4.62s, count=1, min=4625.0ms, max=4625.0ms
+  task_sampling: mean=515.4ms, total=1.55s, count=3, min=388.4ms, max=638.7ms
+  task_specific_sample: mean=511.2ms, total=1.53s, count=3, min=384.4ms, max=634.9ms
+  scene_randomize: mean=2.1ms, total=6.2ms, count=3, min=1.5ms, max=2.9ms
+  mj_forward_sync: mean=513.3us, total=1.5ms, count=3, min=0.4ms, max=0.6ms
+  policy_setup: mean=22.3us, 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]
+05/12 04:33:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 04:33:51 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 04:33:51 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 04:33:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 04:33:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 04:33:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 04:33:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 04:33:51 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 04:33:51 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 04:33:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 04:33:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.071m, effective arm-mount z=0.931m (base_body_z=0.071m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 04:33:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 04:33:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 04:33:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.071427m	[env.py: 870]
+05/12 04:33:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 04:33:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 04:33:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 04:33:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.11738256  1.20695368  0.07142725] yaw=-168.3deg	[env.py: 1019]
+05/12 04:33:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 04:33:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 62.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:33:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.97322494  1.03212532  0.07142725] yaw=-182.1deg	[env.py: 1019]
+05/12 04:33:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 04:33:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.7676619   0.97955759  0.07142725] yaw=-123.0deg	[env.py: 1019]
+05/12 04:33:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 04:33:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 04:33:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=104.1ms, total=104.1ms	[env.py: 1075]
+05/12 04:33:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.117, 1.207, 0.071)	[env.py: 1079]
+05/12 04:33:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -168.3 deg	[env.py: 1082]
+05/12 04:33:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.932m	[env.py: 1086]
+05/12 04:33:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 04:33:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 04:33:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 04:33:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 04:33:52 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 04:33:52 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/12 04:33:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.116s	[base_object_manipulation_planner_policy.py: 377]
+05/12 04:33:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 04:33:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 04:33:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 04:33:53 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.999s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 04:33:53 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.698[m] 90.910[deg]	[grasp_sample.py: 539]
+05/12 04:33:53 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 04:33:53 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 04:33:53 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:33:55 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 04:33:59 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:34:06 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:34:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:34:17 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 04:34:18 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 04:34:22 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:34:22 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:34:56 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:35:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 04:35:08 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:35:13 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 04:35:29 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 04:35:41 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/12 04:35:41 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/12 04:35:41 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 04:35:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:35:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:35:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:35:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:35:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:35:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:35:54 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 04:35:55 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/12 04:35:55 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/12 04:35:55 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 04:35:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:35:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 04:35:56 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_005	[save_utils.py: 785]
+05/12 04:35:56 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 15.21s (batch: 3.53s, save: 11.68s)	[pipeline.py: 300]
+05/12 04:35:57 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.44s:
+  episode_total: mean=187.94s, total=187.94s, count=1, min=187942.9ms, max=187942.9ms
+  sensor_polling: mean=439.4ms, total=131.81s, count=300, min=395.4ms, max=818.4ms
+  save_trajectories: mean=11.68s, total=11.68s, count=1, min=11681.6ms, max=11681.6ms
+  physics_step: mean=24.9ms, total=7.47s, count=300, min=17.7ms, max=59.6ms
+  save_batch_prep: mean=3.53s, total=3.53s, count=1, min=3530.5ms, max=3530.5ms
+  task_sampling: mean=443.5ms, total=443.5ms, count=1, min=443.5ms, max=443.5ms
+  task_specific_sample: mean=438.9ms, total=438.9ms, count=1, min=438.9ms, max=438.9ms
+  scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
+  mj_forward_sync: mean=454.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=24.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 04:35:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 04:35:58 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 04:35:58 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 04:35:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 04:35:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 04:35:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.081s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/12 04:35:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 04:35:58 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 04:35:58 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 04:35:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 04:35:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 04:35:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 04:35:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 04:35:58 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 04:35:58 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 04:35:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 04:35:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.039m, effective arm-mount z=0.899m (base_body_z=0.039m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 04:35:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 04:35:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 04:35:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.039383m	[env.py: 870]
+05/12 04:35:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 04:35:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 04:35:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 04:35:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.73308634  0.51952358  0.03938348] yaw=-215.5deg	[env.py: 1019]
+05/12 04:35:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 04:35:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.67581855  0.49602287  0.03938348] yaw=-219.3deg	[env.py: 1019]
+05/12 04:35:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 04:35:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 79.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:35:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 85.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:35:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 174.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:35:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.7666204   0.0861748   0.03938348] yaw=117.9deg	[env.py: 1019]
+05/12 04:35:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 04:35:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 04:35:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=151.7ms, total=151.8ms	[env.py: 1075]
+05/12 04:35:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.733, 0.520, 0.039)	[env.py: 1079]
+05/12 04:35:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -215.5 deg	[env.py: 1082]
+05/12 04:35:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.970m	[env.py: 1086]
+05/12 04:35:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 04:35:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 04:35:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 04:35:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 04:35:59 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 04:35:59 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/12 04:35:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.118s	[base_object_manipulation_planner_policy.py: 377]
+05/12 04:35:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 04:35:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 04:35:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 04:36:01 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.903s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 04:36:01 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 1.100[deg]	[grasp_sample.py: 539]
+05/12 04:36:01 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 04:36:01 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 04:36:01 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:36:02 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.935s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 04:36:02 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.681[m] 100.246[deg]	[grasp_sample.py: 539]
+05/12 04:36:02 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 04:36:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 04:36:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:36:03 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 04:36:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:36:12 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 04:36:12 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_005	[save_utils.py: 785]
+05/12 04:36:12 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 16.41s (batch: 4.11s, save: 12.30s)	[pipeline.py: 300]
+05/12 04:36:12 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=1.39s:
+  episode_total: mean=104.20s, total=208.39s, count=2, min=5478.1ms, max=202915.5ms
+  sensor_polling: mean=474.1ms, total=142.24s, count=300, min=385.4ms, max=952.6ms
+  save_trajectories: mean=12.30s, total=12.30s, count=1, min=12298.4ms, max=12298.4ms
+  physics_step: mean=31.0ms, total=9.29s, count=300, min=17.5ms, max=56.1ms
+  save_batch_prep: mean=4.11s, total=4.11s, count=1, min=4110.8ms, max=4110.8ms
+  task_sampling: mean=695.2ms, total=1.39s, count=2, min=560.7ms, max=829.7ms
+  task_specific_sample: mean=689.5ms, total=1.38s, count=2, min=554.1ms, max=825.0ms
+  scene_randomize: mean=2.8ms, total=5.5ms, count=2, min=2.4ms, max=3.1ms
+  mj_forward_sync: mean=610.9us, total=1.2ms, count=2, min=0.6ms, max=0.6ms
+  policy_setup: mean=20.7us, 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]
+05/12 04:36:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 04:36:14 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 04:36:14 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 04:36:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 04:36:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 04:36:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 04:36:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 04:36:14 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 04:36:14 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 04:36:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 04:36:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.083m, effective arm-mount z=0.943m (base_body_z=0.083m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 04:36:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 04:36:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 04:36:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.082529m	[env.py: 870]
+05/12 04:36:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 04:36:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 04:36:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 04:36:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -74.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:36:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -71.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:36:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -73.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:36:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -163.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:36:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 128.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:36:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.1296408   1.00914859  0.08252916] yaw=-148.1deg	[env.py: 1019]
+05/12 04:36:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 04:36:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.06622689  1.21515565  0.08252916] yaw=-158.9deg	[env.py: 1019]
+05/12 04:36:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 04:36:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 04:36:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=218.1ms, total=218.2ms	[env.py: 1075]
+05/12 04:36:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.130, 1.009, 0.083)	[env.py: 1079]
+05/12 04:36:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -148.1 deg	[env.py: 1082]
+05/12 04:36:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.778m	[env.py: 1086]
+05/12 04:36:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 04:36:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 04:36:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 04:36:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 04:36:14 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 04:36:14 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/12 04:36:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.114s	[base_object_manipulation_planner_policy.py: 377]
+05/12 04:36:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 04:36:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 04:36:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.086s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 04:36:15 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.906s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 04:36:15 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.383[m] 94.062[deg]	[grasp_sample.py: 539]
+05/12 04:36:15 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 04:36:16 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 04:36:16 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:36:20 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 04:36:23 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:36:24 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/12 04:36:24 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/12 04:36:24 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 04:36:26 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/12 04:36:26 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=False episode_total=0.44s:
+  episode_total: mean=155.37s, total=155.37s, count=1, min=155365.1ms, max=155365.1ms
+  sensor_polling: mean=430.1ms, total=129.03s, count=300, min=369.1ms, max=881.1ms
+  physics_step: mean=25.9ms, total=7.76s, count=300, min=16.8ms, max=50.6ms
+  task_sampling: mean=443.9ms, total=443.9ms, count=1, min=443.9ms, max=443.9ms
+  task_specific_sample: mean=439.6ms, total=439.6ms, count=1, min=439.6ms, max=439.6ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=469.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=20.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 04:36:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 04:36:28 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 04:36:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 04:36:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 04:36:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 04:36:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 04:36:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 04:36:28 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 04:36:28 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 04:36:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 04:36:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.073m, effective arm-mount z=0.933m (base_body_z=0.073m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 04:36:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 04:36:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 04:36:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.072754m	[env.py: 870]
+05/12 04:36:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 04:36:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 04:36:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 04:36:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -73.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:36:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 100.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:36:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -167.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:36:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 104.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:36:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 66.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:36:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.94965136  0.7311746   0.07275395] yaw=-131.8deg	[env.py: 1019]
+05/12 04:36:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 04:36:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.94489088  1.06155025  0.07275395] yaw=-136.2deg	[env.py: 1019]
+05/12 04:36:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 04:36:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 04:36:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=197.8ms, total=197.9ms	[env.py: 1075]
+05/12 04:36:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.950, 0.731, 0.073)	[env.py: 1079]
+05/12 04:36:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -131.8 deg	[env.py: 1082]
+05/12 04:36:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.793m	[env.py: 1086]
+05/12 04:36:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 04:36:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 04:36:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 04:36:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 04:36:29 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 04:36:29 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/12 04:36:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s	[base_object_manipulation_planner_policy.py: 377]
+05/12 04:36:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 04:36:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 04:36:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.088s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 04:36:30 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.121s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 04:36:30 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.398[m] 86.004[deg]	[grasp_sample.py: 539]
+05/12 04:36:30 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 04:36:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 04:36:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:36:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 04:36:40 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_005	[save_utils.py: 785]
+05/12 04:36:40 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 15.81s (batch: 4.56s, save: 11.25s)	[pipeline.py: 300]
+05/12 04:36:40 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=1.06s:
+  episode_total: mean=185.84s, total=371.69s, count=2, min=167834.3ms, max=203850.8ms
+  sensor_polling: mean=472.6ms, total=275.98s, count=584, min=404.4ms, max=880.8ms
+  physics_step: mean=29.2ms, total=17.07s, count=584, min=17.4ms, max=65.0ms
+  save_trajectories: mean=11.25s, total=11.25s, count=1, min=11252.0ms, max=11252.0ms
+  save_batch_prep: mean=4.56s, total=4.56s, count=1, min=4561.3ms, max=4561.3ms
+  task_sampling: mean=530.8ms, total=1.06s, count=2, min=469.7ms, max=591.9ms
+  task_specific_sample: mean=527.2ms, total=1.05s, count=2, min=466.5ms, max=587.8ms
+  scene_randomize: mean=2.0ms, total=4.1ms, count=2, min=1.4ms, max=2.7ms
+  mj_forward_sync: mean=457.9us, total=0.9ms, count=2, min=0.5ms, max=0.5ms
+  policy_setup: mean=25.6us, 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]
+05/12 04:36:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 04:36:42 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 04:36:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 04:36:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 04:36:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 04:36:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 04:36:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 04:36:42 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 04:36:42 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 04:36:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 04:36:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.057m, effective arm-mount z=0.917m (base_body_z=0.057m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 04:36:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 04:36:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 04:36:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.056559m	[env.py: 870]
+05/12 04:36:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 04:36:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 04:36:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 04:36:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.66926872  0.65945645  0.05655904] yaw=-177.7deg	[env.py: 1019]
+05/12 04:36:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 04:36:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -69.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:36:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -47.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:36:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.63937621  0.48857668  0.05655904] yaw=-145.5deg	[env.py: 1019]
+05/12 04:36:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 04:36:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -35.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 04:36:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.87692761  0.7139211   0.05655904] yaw=-195.7deg	[env.py: 1019]
+05/12 04:36:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 04:36:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 04:36:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=140.5ms, total=140.6ms	[env.py: 1075]
+05/12 04:36:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.669, 0.659, 0.057)	[env.py: 1079]
+05/12 04:36:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -177.7 deg	[env.py: 1082]
+05/12 04:36:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.048m	[env.py: 1086]
+05/12 04:36:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 04:36:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 04:36:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 04:36:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 04:36:42 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 04:36:42 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/12 04:36:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.103s	[base_object_manipulation_planner_policy.py: 377]
+05/12 04:36:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 04:36:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 04:36:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 04:36:43 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.111s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 04:36:43 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.616[m] 96.779[deg]	[grasp_sample.py: 539]
+05/12 04:36:43 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 04:36:44 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 04:36:44 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:36:45 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 04:36:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:37:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 04:37:05 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:37:08 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:37:09 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:37:15 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 04:37:19 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 04:37:19 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:37:23 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 04:37:47 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
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